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add test end-effector for Kuka iiwa (IK)

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erwin coumans
2016-09-22 19:48:26 -07:00
parent 310a330572
commit e356f4f1f6
6 changed files with 230 additions and 9 deletions
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16
data/kuka_iiwa/model.urdf
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@@ -284,5 +284,21 @@
</geometry>
</collision>
</link>
<!-- joint between link_7 and lbr_iiwa_link_endeffector -->
<joint name="lbr_iiwa_joint_8" type="fixed">
<parent link="lbr_iiwa_link_7"/>
<child link="lbr_iiwa_link_endeffector"/>
<origin rpy="0 0 0" xyz="0 0.0 0.08"/>
<axis xyz="0 0 1"/>
</joint>
<link name="lbr_iiwa_link_endeffector">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0.02"/>
<mass value="0.3"/>
<inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
</inertial>
</link>
</robot>