The BX300L is a six-axis industrial arm, part of Kawasaki’s BX heavy-payload lineup.
The mechanism
Six independently actuated revolute joints, plus a parallel-link (pantograph) pair at
the elbow — parallel_joint1/parallel_joint2 are <mimic> of joint2, mechanically
slaved rather than independently actuated, so real DOF stays 6 even though the naive
movable-joint count is 8. This is the classic mimic-joint DOF correction (see
gallery/sources/NOTES.md’s general patterns).
About these files — read before importing
This is not a URDF — Kawasaki publishes BX300L as a parameterized .xacro template shared
across its whole khi_ros2 product line, with model identity (link geometry, joint limits,
inertial data) coming from robot_series/robot_name arguments and per-model YAML config
files, not a separate file per robot. This gallery entry links directly to the official
khi_ros2 repository’s khi_description
package, configured for the BX300L, unmodified. ARMOR expands the macros itself after
downloading, so Open in ARMOR gives you a working robot — nothing here is a pre-baked
derivative of Kawasaki’s files.