From e86e9b32f78f18baeb5e950fab9af14b1c3c2914 Mon Sep 17 00:00:00 2001 From: jgvictores Date: Tue, 30 Apr 2019 14:44:05 +0200 Subject: [PATCH 1/3] l8: 187.496 -> 90 --- csv/lengths.csv | 36 ++++++++++++++++++------------------ 1 file changed, 18 insertions(+), 18 deletions(-) diff --git a/csv/lengths.csv b/csv/lengths.csv index 679dd16..e8c1b2b 100644 --- a/csv/lengths.csv +++ b/csv/lengths.csv @@ -1,18 +1,18 @@ -lengths,distance [mm], -l0,193.2, -l1,305, -l2,162.5, -l3,59.742, -l4,37.508, -l5,346.92, -l6,329.01, -l7,202, -l8,187.496,"Con F/T, a 2 cm debajo chapa final mano." -l9,92, -l10,330, -l11,300, -l12,123.005, -l13,146, -l14,18, -l15,26, -l16,17.5, +lengths,distance [mm] +l0,193.2 +l1,305 +l2,162.5 +l3,59.742 +l4,37.508 +l5,346.92 +l6,329.01 +l7,202 +l8,90 +l9,92 +l10,330 +l11,300 +l12,123.005 +l13,146 +l14,18 +l15,26 +l16,17.5 From 8fe29575fd4518560ae88bd7124955921520ee2a Mon Sep 17 00:00:00 2001 From: jgvictores Date: Tue, 30 Apr 2019 15:06:11 +0200 Subject: [PATCH 2/3] very nice table reorg --- csv/deprecated/dh-transformations.csv | 4 ++ csv/{ => deprecated}/dh-trunk.csv | 0 csv/dh-head-transformations.csv | 4 ++ csv/dh-transformations.csv | 9 ----- tables.md | 55 ++++++++++++++++++--------- 5 files changed, 44 insertions(+), 28 deletions(-) create mode 100644 csv/deprecated/dh-transformations.csv rename csv/{ => deprecated}/dh-trunk.csv (100%) create mode 100644 csv/dh-head-transformations.csv delete mode 100644 csv/dh-transformations.csv diff --git a/csv/deprecated/dh-transformations.csv b/csv/deprecated/dh-transformations.csv new file mode 100644 index 0000000..62cf22d --- /dev/null +++ b/csv/deprecated/dh-transformations.csv @@ -0,0 +1,4 @@ +Name,Transformation +H_hip_neck,RotX(90) +H_hip_leftArm,TrasZ(l5) * RotZ(-90) * TrasX(l1) +H_hip_rightArm,TrasZ(-l5) * RotZ(-90) * TrasX(l1) diff --git a/csv/dh-trunk.csv b/csv/deprecated/dh-trunk.csv similarity index 100% rename from csv/dh-trunk.csv rename to csv/deprecated/dh-trunk.csv diff --git a/csv/dh-head-transformations.csv b/csv/dh-head-transformations.csv new file mode 100644 index 0000000..4c18917 --- /dev/null +++ b/csv/dh-head-transformations.csv @@ -0,0 +1,4 @@ +Name,Transformation +H_head_rgb,TrasZ(l3) * RotZ(-90) * RotX(-90) * TrasX(-l14) +H_head_depth,TrasZ(l3) * RotZ(-90) * RotX(-90) * TrasX(-l14-l15) +H_head_flea,TrasZ(l3+l4) * RotZ(-90) * RotX(-90) diff --git a/csv/dh-transformations.csv b/csv/dh-transformations.csv deleted file mode 100644 index 01e92be..0000000 --- a/csv/dh-transformations.csv +++ /dev/null @@ -1,9 +0,0 @@ -Name,Transformation -H_head_rgb,TrasZ(l3) * RotZ(-90) * RotX(-90) * TrasX(-l14) -H_head_depth,TrasZ(l3) * RotZ(-90) * RotX(-90) * TrasX(-l14-l15) -H_head_flea,TrasZ(l3+l4) * RotZ(-90) * RotX(-90) -H_hip_neck,RotX(90) -H_hip_leftArm,TrasZ(l5) * RotZ(-90) * TrasX(l1) -H_hip_rightArm,TrasZ(-l5) * RotZ(-90) * TrasX(l1) -H_root_leftLeg,TrasZ(-l19) * RotZ(90) * TrasX(l13) -H_root_rightLeg,TrasZ(-l19) * RotZ(90) * TrasX(-l13) diff --git a/tables.md b/tables.md index 79e5e59..4d5df2e 100644 --- a/tables.md +++ b/tables.md @@ -14,56 +14,73 @@ Can be found at [Motores: motores](#motores-motores) ## DH Parameters -### Useful transformations -Some not required, redundant or may be derived from from existing `dh-root-*.csv` contents (below). -- Github: [dh-transformations.csv](csv/dh-transformations.csv) -- Gitbook: {% includeCsv src="csv/dh-transformations.csv", useHeader="true" %}{% endincludeCsv %} - -### trunk (root to hip) -This is the original `trunk`, but the three variants (for `head`, `rightArm`, `leftArm`; respectively, below) may be more useful. -- Github: [dh-trunk.csv](csv/dh-trunk.csv) -- Gitbook: {% includeCsv src="csv/dh-trunk.csv", useHeader="true" %}{% endincludeCsv %} +### Group: head -### trunk for head (root to neck) +#### trunk for head (root to neck) - Github: [dh-root-head.csv](csv/dh-root-head.csv) - Gitbook: {% includeCsv src="csv/dh-root-head.csv", useHeader="true" %}{% endincludeCsv %} -### head +#### head - Github: [dh-head.csv](csv/dh-head.csv) - Gitbook: {% includeCsv src="csv/dh-head.csv", useHeader="true" %}{% endincludeCsv %} -### trunk for rightArm (root to rightArm) +#### head additional transformations +- Github: [dh-head-transformations.csv](csv/dh-head-transformations.csv) +- Gitbook: {% includeCsv src="csv/dh-head-transformations.csv", useHeader="true" %}{% endincludeCsv %} + +### Group: rightArm + +#### trunk for rightArm (root to rightArm) - Github: [dh-root-rightArm.csv](csv/dh-root-rightArm.csv) - Gitbook: {% includeCsv src="csv/dh-root-rightArm.csv", useHeader="true" %}{% endincludeCsv %} -### rightArm +#### rightArm - Github: [dh-rightArm.csv](csv/dh-rightArm.csv) - Gitbook: {% includeCsv src="csv/dh-rightArm.csv", useHeader="true" %}{% endincludeCsv %} -### trunk for leftArm (root to leftArm) +### Group: leftArm + +#### trunk for leftArm (root to leftArm) - Github: [dh-root-leftArm.csv](csv/dh-root-leftArm.csv) - Gitbook: {% includeCsv src="csv/dh-root-leftArm.csv", useHeader="true" %}{% endincludeCsv %} -### leftArm +#### leftArm - Github: [dh-leftArm.csv](csv/dh-leftArm.csv) - Gitbook: {% includeCsv src="csv/dh-leftArm.csv", useHeader="true" %}{% endincludeCsv %} -### root to rightLeg +### Group: rightLeg + +#### root to rightLeg - Github: [dh-root-rightLeg.csv](csv/dh-root-rightLeg.csv) - Gitbook: {% includeCsv src="csv/dh-root-rightLeg.csv", useHeader="true" %}{% endincludeCsv %} -### rightLeg +#### rightLeg - Github: [dh-rightLeg.csv](csv/dh-rightLeg.csv) - Gitbook: {% includeCsv src="csv/dh-rightLeg.csv", useHeader="true" %}{% endincludeCsv %} -### root to leftLeg +### Group: leftLeg + +#### root to leftLeg - Github: [dh-root-leftLeg.csv](csv/dh-root-leftLeg.csv) - Gitbook: {% includeCsv src="csv/dh-root-leftLeg.csv", useHeader="true" %}{% endincludeCsv %} -### leftLeg +#### leftLeg - Github: [dh-leftLeg.csv](csv/dh-leftLeg.csv) - Gitbook: {% includeCsv src="csv/dh-leftLeg.csv", useHeader="true" %}{% endincludeCsv %} +### Group: Deprecated transformations +The below are not required at time of writing, and may become outdated with time. + +#### Deprecated trunk (root to hip) +This is the original `trunk`, but the three variants (for `head`, `rightArm`, `leftArm`; respectively, above) may be more useful. +- Github: [deprecated/dh-trunk.csv](csv/deprecated/dh-trunk.csv) +- Gitbook: {% includeCsv src="csv/deprecated/dh-trunk.csv", useHeader="true" %}{% endincludeCsv %} + +#### Deprecated additional transformations +Some not required, redundant or may be derived from from existing `dh-root-*.csv` contents (below). +- Github: [deprecated/dh-transformations.csv](csv/deprecated/dh-transformations.csv) +- Gitbook: {% includeCsv src="csv/deprecated/dh-transformations.csv", useHeader="true" %}{% endincludeCsv %} + ## Link Lengths - Github: [lengths.csv](csv/lengths.csv) - Gitbook: {% includeCsv src="csv/lengths.csv", useHeader="true" %}{% endincludeCsv %} From d51036c85afa96d70e60a69933965fb0394e3cda Mon Sep 17 00:00:00 2001 From: jgvictores Date: Tue, 30 Apr 2019 15:29:58 +0200 Subject: [PATCH 3/3] fix dh-fetch.csv - caught via kdl-from-csv.py --dhFileName ./csv/dh-fetch.csv --- csv/dh-fetch.csv | 3 +++ csv/lengths.csv | 1 + tables.md | 12 ++++++++++-- 3 files changed, 14 insertions(+), 2 deletions(-) create mode 100644 csv/dh-fetch.csv diff --git a/csv/dh-fetch.csv b/csv/dh-fetch.csv new file mode 100644 index 0000000..1be45db --- /dev/null +++ b/csv/dh-fetch.csv @@ -0,0 +1,3 @@ +Link,θ,D,A,α +1,-90,0,0,90 +2,0,lf,0,0 diff --git a/csv/lengths.csv b/csv/lengths.csv index e8c1b2b..e7c2e24 100644 --- a/csv/lengths.csv +++ b/csv/lengths.csv @@ -16,3 +16,4 @@ l13,146 l14,18 l15,26 l16,17.5 +lf,97.5 diff --git a/tables.md b/tables.md index 4d5df2e..4171b36 100644 --- a/tables.md +++ b/tables.md @@ -38,6 +38,10 @@ Can be found at [Motores: motores](#motores-motores) - Github: [dh-rightArm.csv](csv/dh-rightArm.csv) - Gitbook: {% includeCsv src="csv/dh-rightArm.csv", useHeader="true" %}{% endincludeCsv %} +#### fetch +- Github: [dh-fetch.csv](csv/dh-fetch.csv) +- Gitbook: {% includeCsv src="csv/dh-fetch.csv", useHeader="true" %}{% endincludeCsv %} + ### Group: leftArm #### trunk for leftArm (root to leftArm) @@ -48,6 +52,10 @@ Can be found at [Motores: motores](#motores-motores) - Github: [dh-leftArm.csv](csv/dh-leftArm.csv) - Gitbook: {% includeCsv src="csv/dh-leftArm.csv", useHeader="true" %}{% endincludeCsv %} +#### fetch +- Github: [dh-fetch.csv](csv/dh-fetch.csv) +- Gitbook: {% includeCsv src="csv/dh-fetch.csv", useHeader="true" %}{% endincludeCsv %} + ### Group: rightLeg #### root to rightLeg @@ -72,12 +80,12 @@ Can be found at [Motores: motores](#motores-motores) The below are not required at time of writing, and may become outdated with time. #### Deprecated trunk (root to hip) -This is the original `trunk`, but the three variants (for `head`, `rightArm`, `leftArm`; respectively, above) may be more useful. +This is the original `trunk`, but the three variants (for `head`, `rightArm`, `leftArm`; respectively, above) seem to be more useful. - Github: [deprecated/dh-trunk.csv](csv/deprecated/dh-trunk.csv) - Gitbook: {% includeCsv src="csv/deprecated/dh-trunk.csv", useHeader="true" %}{% endincludeCsv %} #### Deprecated additional transformations -Some not required, redundant or may be derived from from existing `dh-root-*.csv` contents (below). +Some not required, redundant or may be derived from from existing `dh-root-*.csv` contents (above). - Github: [deprecated/dh-transformations.csv](csv/deprecated/dh-transformations.csv) - Gitbook: {% includeCsv src="csv/deprecated/dh-transformations.csv", useHeader="true" %}{% endincludeCsv %}