Unable to load virtual joints in iiwa14 srdf file about iiwa_stack HOT 6 CLOSED

Can you point me to where/how costar uses those joints? I don't use an iiwa14 since a year or more, so the urdf/srdf might not be up to date with the iiwa7 model.
I'm under deadlines so I might not answer quickly in the next days!

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This also might be a costar bug, it's been a while since I've had access to an iiwa14 to make sure everything works properly and we've been aggressively adding features and refactoring. I will say that the simulated version still works with older versions of Salvo's iiwa_stack.

We define base and end links for the kinematic chain of the arm here: https://github.com/cpaxton/costar_stack/blob/master/costar_robot/costar_robot_manager/src/costar_robot/iiwa_driver.py#L41

We use these with TF to set the different waypoints, and publish a transform from base to world in costar_arm.py.

David, does this work without CoSTAR stack? if so it's probably a bug on my end.

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I might be able to test on the kuka 14 (except no gripper) but it will take a fair amount of effort and couldn't be until next week.

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@davidadley was this fixed on the costar side?

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Hi,
I don't think the virtual joints are loaded but costar has been able to work around this.

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I just removed those virtual joints from the srdf to match the one for the iiwa7. If any other problems should come up regarding this, feel free to reopen the issue.

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