Add end effector frame to panda arm

robotology · Feb 9, 2020 · e5e4750 · e5e4750
1 parent 38043db
commit e5e4750
Showing 1 changed file with 17 additions and 0 deletions.
diff --git a/gym_ignition_models/panda/panda.urdf b/gym_ignition_models/panda/panda.urdf
@@ -324,4 +324,21 @@
     <axis xyz="0 -1 0"/>
     <limit effort="20" lower="-0.001" upper="0.04" velocity="0.3"/>
   </joint>
+  <link name="end_effector_frame">
+    <inertial>
+      <!-- Dummy inertial parameters to avoid link lumping-->
+      <mass value="0.01"/>
+      <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/>
+    </inertial>
+  </link>
+  <joint name="end_effector_frame_fixed_joint" type="fixed">
+    <origin rpy="0 0 -0.785398163397" xyz="0 0 0.21"/>
+    <parent link="panda_link7"/>
+    <child link="end_effector_frame"/>
+  </joint>
+  <gazebo reference="end_effector_frame_fixed_joint">
+    <preserveFixedJoint>true</preserveFixedJoint>
+    <!-- For compatibility with SDFormat < 4.4 -->
+    <disableFixedJointLumping>true</disableFixedJointLumping>
+  </gazebo>
 </robot>