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gazebo_notes
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gazebo_notes
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approach:
gazebo controller:
davinci psm tree:
psm_base_link glued to "world"
psm_base_link (outer_yaw_joint) -> outer_yaw_link
outer_yaw_link
outer_yaw_link-> (outer_pitch_joint) -> outer_pitch_link
outer_yaw_link-> (outer_pitch_joint_1) -> outer_pitch_back_link
outer_pitch_back_link -> (outer_pitch_joint_3) -> outer_pitch_bottom_link
outer_pitch_bottom_link -> (outer_pitch_joint_5) -> outer_insertion_link
outer_insertion_link
outer_pitch_top_link
outer_pitch_front_link
outer_pitch_link -> (outer_insertion_joint prismatic) -> tool_main_link
tool_main_link -> (outer_roll_joint) -> tool_wrist_link
tool_wrist_link -> (outer_roll_shaft_joint fixed) -> tool_wrist_shaft_link
-----these for gripper DOF's----
tool_wrist_shaft_link
tool_wrist_sca_link
tool_wrist_sca_shaft_link
tool_tip_link
tool_wrist_sca_ee_link_1
tool_wrist_sca_ee_link_2
try this:
yaw rotation: fine as-is
pitch rotation: define an invisible joint for pitch?
servo this joint angle
connecting components: yaw/pitch--> pose of
outer_pitch_top_link
outer_pitch_bottom_link
outer_pitch_insertion_link
outer_pitch_front_link
outer_pitch_back_link
mimics: outer_pitch_joint_1 mimics outer_pitch_joint (outer_yaw_link-> outer_pitch_back_link)
outer_pitch_joint_2 mimics outer_pitch_joint (outer_yaw_link-> outer_pitch_front_link)
outer_pitch_joint_3 mimics outer_pitch_joint w/ multiplier=-1
(outer_pitch_back_link-> outer_pitch_bottom_link)
outer_pitch_joint_4 mimics outer_pitch_joint w/ multiplier=-1
(outer_pitch_back_link->outer_pitch_top_link)
outer_pitch_joint_5 mimics outer_pitch_joint (outer_pitch_bottom_link->outer_insertion_link)
minimal:
outer_yaw_joint: psm_base_link (outer_yaw_joint) -> outer_yaw_link
outer_pitch_joint: outer_yaw_link-> (outer_pitch_joint) -> outer_pitch_link
outer_pitch_joint_1: outer_yaw_link-> (outer_pitch_joint_1) -> outer_pitch_back_link
outer_pitch_joint_3: outer_pitch_back_link -> (outer_pitch_joint_3) -> outer_pitch_bottom_link
outer_pitch_joint_5: outer_pitch_bottom_link -> (outer_pitch_joint_5) -> outer_insertion_link
psm_base_link ->(outer_yaw_joint)
-> outer_yaw_link -> (outer_pitch_joint_1)
-> outer_pitch_back_link -> (outer_pitch_joint_3)
-> outer_pitch_bottom_link (outer_pitch_joint_5)
-> outer_insertion_link
AND: outer_pitch_link ->(outer_insertion_joint prismatic)-> tool_main_link
(why not outer_insertion_link -> outer_insertion_joint -> tool_main_link ???
psm_base_link (outer_yaw_joint) -> outer_yaw_link
outer_yaw_link-> (outer_pitch_joint) -> outer_pitch_link
outer_pitch_link ->(outer_insertion_joint prismatic)-> tool_main_link
tool_main_link ->(outer_roll_joint)-> tool_wrist_link
(then fixed link: tool_wrist_link-> (outer_roll_shaft_joint) -> tool_wrist_shaft_link)
(useless?? has model)
slave the pitch joints, for visualization: