JAKA S URDF Models — Import into ARMOR for iPhone, iPad & Mac

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Choose a collision treatment:

S5 8 files · 3.1 MB 5 kg payload. S7 8 files · 8.4 MB 7 kg payload. S12 8 files · 3.6 MB 12 kg payload — the largest model in the S line.

8 files 3.1 MB download

Opens in the ARMOR app on iPhone, iPad, or Mac. Don’t have it yet? Get ARMOR.

The S series is JAKA Robotics’ compact collaborative arm line — three payload classes from 5 kg up to 12 kg, sharing the same 6-axis mechanism as the rest of JAKA’s cobot lineup (Zu, Pro, A, and C).

The mechanism

Six revolute joints in series (joint_1 through joint_6) form a textbook 6-axis collaborative arm on every model — no mimic joints, no closed loops, every movable joint an independent actuator. Confirmed identical joint structure across every size in the line by direct comparison of each model’s own URDF; only link dimensions, mass, and mesh geometry scale between sizes.

Choosing a variant

All three are mechanically identical — the choice is purely which payload class matches your application.

About these files — read before importing

These are real, literal URDFs, not xacro templates — JAKA publishes a separate, complete URDF per model rather than one parameterized template. This gallery entry links directly to the official jaka_ros2 repository, unmodified. See this entry’s license notice above: this repository carries no license of any kind, so review that before building on any of these designs.

License & attribution

Source code

none

Model & mesh files

none

Attribution

jaka_description (jaka_ros2) has no license anywhere in the repository — see gallery/sources/NOTES.md under "JAKA Robotics batch" for the full finding (shared across every JAKA entry in this gallery). Under default copyright, no license actually permits downloading or reusing these files.

ARMOR does not host or redistribute this model. Choosing “Open in ARMOR” downloads the files directly from JAKA Robotics’s own repository, unmodified. Your use of the model is governed by the license above.

ARMOR is an independent tool published by DCDC LLC. It is not affiliated with, sponsored by, or endorsed by JAKA Robotics. "JAKA" and "S" are used here only to identify the robots these files describe. These models are downloaded directly from JAKA's own repository. No license governs them — see the license notice above before building on any of these designs.