add dummy cart joint to urdf, jazzy requirement

kroshu · Oct 17, 2024 · 407a186 · 407a186
1 parent 7423001
commit 407a186
Showing 1 changed file with 40 additions and 0 deletions.
diff --git a/kuka_lbr_iiwa_support/urdf/lbr_iiwa14_r820_macro.xacro b/kuka_lbr_iiwa_support/urdf/lbr_iiwa14_r820_macro.xacro
@@ -197,5 +197,45 @@
       <child link="${prefix}tool0"/>
       <origin rpy="-0.0 0.0 0.0" xyz="0.0 0.0 0.071"/>
     </joint>
+    <joint name="${prefix}dummy_cart_joint/x" type="continuous">
+      <parent link="world"/>
+      <child link="${prefix}base_link"/>
+    </joint>
+    <joint name="${prefix}dummy_cart_joint/y" type="continuous">
+      <parent link="world"/>
+      <child link="${prefix}base_link"/>
+    </joint>
+    <joint name="${prefix}dummy_cart_joint/z" type="continuous">
+      <parent link="world"/>
+      <child link="${prefix}base_link"/>
+    </joint>
+    <joint name="${prefix}dummy_cart_joint/a" type="continuous">
+      <parent link="world"/>
+      <child link="${prefix}base_link"/>
+    </joint>
+    <joint name="${prefix}dummy_cart_joint/b" type="continuous">
+      <parent link="world"/>
+      <child link="${prefix}base_link"/>
+    </joint>
+    <joint name="${prefix}dummy_cart_joint/c" type="continuous">
+      <parent link="world"/>
+      <child link="${prefix}base_link"/>
+    </joint>
+    <joint name="${prefix}dummy_cart_joint/qw" type="continuous">
+      <parent link="world"/>
+      <child link="${prefix}base_link"/>
+    </joint>
+    <joint name="${prefix}dummy_cart_joint/qx" type="continuous">
+      <parent link="world"/>
+      <child link="${prefix}base_link"/>
+    </joint>
+    <joint name="${prefix}dummy_cart_joint/qy" type="continuous">
+      <parent link="world"/>
+      <child link="${prefix}base_link"/>
+    </joint>
+    <joint name="${prefix}dummy_cart_joint/qz" type="continuous">
+      <parent link="world"/>
+      <child link="${prefix}base_link"/>
+    </joint>
   </xacro:macro>
 </robot>