removed useless virtual joints

iiwa_moveit/config/iiwa14.srdf

@@ -27,10 +27,6 @@
     </group_state>
     <!--END EFFECTOR: Purpose: Represent information about an end effector.-->
     <end_effector name="moveit_ee" parent_link="iiwa_link_ee" group="endeffector"/>
-    <!--VIRTUAL JOINT: Purpose: this element defines a virtual joint between a robot link and an external frame of reference (considered fixed with respect to the robot)-->
-    <virtual_joint name="fixed_base" type="fixed" parent_frame="world" child_link="iiwa_link_0" />
-    <virtual_joint name="fixed_ee_kuka" type="fixed" parent_frame="iiwa_link_7" child_link="iiwa_link_ee_kuka" />
-    <virtual_joint name="fixed_ee" type="fixed" parent_frame="iiwa_link_7" child_link="iiwa_link_ee" />
     <!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
     <disable_collisions link1="iiwa_link_0" link2="iiwa_link_1" reason="Adjacent" />
     <disable_collisions link1="iiwa_link_0" link2="iiwa_link_2" reason="Never" />