This repository has been archived by the owner on Sep 17, 2024. It is now read-only.
URDF dVRK
The general rule is to make sure each joint frame matches the frame defined in dVRK manual. In certain cases, I changed the frame to match actual implementation. The page documents these changes.
| Name | Type | Link Name | Comments | |
|---|---|---|---|---|
| 0 | Base (World) | N/A | top_panel | N/A |
| 1 | Outer Yaw | Revolute | outer_yaw_link | N/A |
| 2 | Shoulder Pitch | Revolute | back_parallel_link | N/A |
| 3 | Elbow Pitch | Revolute | bottom_parallel_link | N/A |
| 4 | Platform | Revolute | wrist_platform_link | Not same as manual, moved up to wrist |
| 5 | Wrist Pitch | Revolute | wrist_pitch_link | N/A |
| 6 | Wrist Yaw | Revolute | wrist_yaw_link | N/A |
| 7 | Wrist Roll | Revolute | wrist_roll_link | N/A |
- ZC TODO: Test and document this here
2014-09-13
Zihan Chen