README.md

kuka_iiwa_interface

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

Dependencies

• 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