Code: Select all
Between 'Sawyer_joint1' and 'Sawyer_headJoint':
d=0.0000
theta=0.0
a=0.0000
alpha=0.0
Between 'Sawyer_joint1' and 'Sawyer_joint2':
d=0.2305
theta=-12.7
a=0.0830
alpha=-90.0
Between 'Sawyer_joint2' and 'Sawyer_joint3':
d=0.1829
theta=180.0
a=0.1470
alpha=77.3
Between 'Sawyer_joint3' and 'Sawyer_joint4':
d=0.0276
theta=166.0
a=0.5026
alpha=77.6
Between 'Sawyer_joint4' and 'Sawyer_joint5':
d=-0.1829
theta=3.7
a=0.0159
alpha=90.9
Between 'Sawyer_joint5' and 'Sawyer_joint6':
d=0.0046
theta=-0.9
a=0.3811
alpha=-90.9
Between 'Sawyer_joint6' and 'Sawyer_joint7':
d=0.1359
theta=179.3
a=0.0113
alpha=90.1
Between 'Sawyer_joint7' and 'BaxterGripper_centerJoint':
d=0.0001
theta=-179.9
a=0.2629
alpha=-89.9
Between 'BaxterGripper_centerJoint' and 'BaxterGripper_closeJoint':
d=0.0000
theta=0.0
a=0.0000
alpha=0.0
Code: Select all
Between 'Sawyer_joint2' and 'Sawyer_joint3':
d=0.1315
theta=89.8
a=0.0189
alpha=90.0
Between 'Sawyer_joint3' and 'Sawyer_joint4':
d=0.0011
theta=180.0
a=0.4188
alpha=90.0
Between 'Sawyer_joint4' and 'Sawyer_joint5':
d=-0.1685
theta=0.3
a=0.0163
alpha=90.0
Between 'Sawyer_joint5' and 'Sawyer_joint6':
d=0.0008
theta=-0.0
a=0.3837
alpha=-90.0
Between 'Sawyer_joint6' and 'Sawyer_joint7':
d=0.1363
theta=179.9
a=0.0117
alpha=90.0
Between 'Sawyer_joint7' and 'BaxterGripper_centerJoint':
d=0.0000
theta=180.0
a=0.2631
alpha=-90.0
Between 'BaxterGripper_centerJoint' and 'BaxterGripper_closeJoint':
d=0.0000
theta=0.0
a=0.0000
alpha=0.0
And if you are willing to, (3) could you please provide me the right DH parameter of Sawyer.ttm?
Cheers