hi,
What can you tell me about the "Motorcortex Robot App.proj" downloaded from the store during the Motorcortex.io trial period and the "robot-model-parameters.pdf" downloaded from the forum?
■Question 1.
There seem to be different ways to specify the inverse kinematics calculation method. Which one is correct?
robot-model-parameters.pdf
<robot name="MyName" numberDoFs="6">
<ik type="anthropomorphic"/>
mech-parameters.xml
<robot name="syman" numberDoFs="6" type="anthropomorphic">
■Question 2.
The numbering of the segments is different. Which is correct?
robot-model-parameters.pdf
<segment number="1">...<segment number="6">
mech-parameters.xml
<segment number="0">...<segment number="5">
■Question 3.
In "mech-parameters.xml", the tippose position values for <segment number="2"> and <segment number="4"> were all 0.
I assume this means that the tippose position of <segment number="1">, <segment number="2">, <segment number="3"> and <segment number="4"> are the same, but is this a correct setting? Is this correct?
■Question 4.
There are three ways to set the center of gravity for each segmentation: tee-pause position, center position of the link, and center position of the immediately preceding link. What is the intention?
<segment number="0">: segment 0 tip position
<segment number="1">: between segment 0 tee pose position and segment 1 tee pose position
<segment number="2">: between the tip position of segment 2 and the tip position of segment 3
<segment number="3">: between the tip position of segment 2 and the tip position of segment 3
<segment number="4">: tip position of segment 4
<segment number="5">: tip position of segment 5
■Question 5.
The weight of segment 5 is now 0. What is the intention?
■Question 6.
How do you set the weight of the tool?
(The length can be set with tool-offset position, but not the mass).
