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UM-ARM-Lab / kuka_iiwa_interface

Developmental controllers for the IIWA 7 robot, including a Catkinized version of the Kuka FRI SDK
BSD 2-Clause "Simplified" License
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Wrist force/torques have an invalid frame #140

Closed bsaund closed 7 months ago

bsaund commented 3 years ago

The end effector wrench is published in the frame: victor_left_gripper_palm_surface (topic /victor/left_gripper/wrench)

The TFs are not published properly for this frame. Not sure why, but could be related to the robotiq gripper refactor, and thus we'll need to choose a different frame

bsaund commented 3 years ago

Yes, this is related to the robotiq grippers. I poked around and tried a few frames, but they were all offset 45 degrees (e.g. the gripper clocking angle)