JAKA Lumi is JAKA Robotics’ mobile-manipulator platform — a wheeled base built to bring a collaborative arm into a workspace rather than bolt it to a fixed table. This description models a single-arm configuration: a differential-drive wheeled base, a prismatic lift column that raises and lowers the whole upper body, a 6-axis collaborative arm (the same mechanism as JAKA’s MiniCobo), and a small pan/tilt head mechanism above it.
The mechanism
Two continuous joints drive the wheels. A prismatic joint raises and lowers the lift column, topped by a single revolute joint (a torso/shoulder-pan pivot) from which the mechanism branches: a two-joint head/neck mechanism on one side, and JAKA’s standard 6-axis arm (six revolute joints, plus a fixed tool-center-point frame) on the other. Twelve actuated joints in total — no mimic joints or closed kinematic loops anywhere in the description.
About this file — read before importing
This links directly to
JAKA_Lumi’s jaka_lumi_description package,
JAKA’s own repository. ARMOR links directly to that repository rather than re-hosting
anything, so what you get is exactly what’s published there, unmodified. JAKA’s own
promotional materials for Lumi show a two-armed configuration of this platform; the URDF
actually published in this repository models the single-arm build described above, not the
two-armed one pictured in marketing renders.