https://github.com/um-arm-lab/kuka_iiwa_interface

Developmental controllers for the IIWA 7 robot, including a Catkinized version of the Kuka FRI SDK
https://github.com/um-arm-lab/kuka_iiwa_interface

Last synced: about 1 year ago
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Developmental controllers for the IIWA 7 robot, including a Catkinized version of the Kuka FRI SDK

• Host: GitHub
• URL: https://github.com/um-arm-lab/kuka_iiwa_interface
• Owner: UM-ARM-Lab
• License: bsd-2-clause
• Created: 2017-02-14T16:54:52.000Z (over 9 years ago)
• Default Branch: master
• Last Pushed: 2025-04-29T18:03:44.000Z (about 1 year ago)
• Last Synced: 2025-05-06T19:26:57.342Z (about 1 year ago)
• Language: C++
• Size: 72.2 MB
• Stars: 8
• Watchers: 10
• Forks: 4
• Open Issues: 26
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

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README

          
# kuka_iiwa_interface

Developmental controllers for the IIWA 7 robot, including a Catkinized version of the Kuka FRI SDK

# Dependencies

- [arc_utilities](https://github.com/UM-ARM-Lab/arc_utilities)

- moveit

## Cartesian Pose Mode

Cartesian pose commands should target poses for the `victor_[left/right]_gripper_palm_surface_kuka` frame, relative to `victor_[left/right]_arm_world_frame_kuka`