From 407a186a84b88ea94b3d4fce56cf31c5a889fb6c Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Krist=C3=B3fi=20Mih=C3=A1ly?= <krmihaly42@gmail.com>
Date: Thu, 17 Oct 2024 11:04:12 +0200
Subject: [PATCH] add dummy cart joint to urdf, jazzy requirement

---
 .../urdf/lbr_iiwa14_r820_macro.xacro          | 40 +++++++++++++++++++
 1 file changed, 40 insertions(+)

diff --git a/kuka_lbr_iiwa_support/urdf/lbr_iiwa14_r820_macro.xacro b/kuka_lbr_iiwa_support/urdf/lbr_iiwa14_r820_macro.xacro
index dde8e21..cb1de32 100755
--- 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>