Wiki
Clone wikiscl-manips-group / docu / tutorial_RPP
Math
We will follow the math given here: RPPBot_tutorial
Note:
- Theta_0 represents the angle, while theta_1 and theta_2 represent the offset lengths.
- Orientation rotational velocity - Omega = JOcomRot * dq
Simulation
- To easily understand the math, go to see scl
cd <scl_base_directory>/applications_linux/scl_example_ctrl
./scl_eg_ctrl ../../specs/Bot-RPP/Bot-RPPCfg.xml rppbot opc -op hand
- This will run the scl simulation with RPPBot and allow you to control the hand of the robot in Cartesian coordinates
- e,q for up-down
- w,s for in-out
- a,d for left-right
Updated