From b7ce842cec9afd6864ffc374434636e7c7eb6ad8 Mon Sep 17 00:00:00 2001 From: "Alan G. Sanchez" Date: Thu, 23 Jun 2022 08:48:48 -0700 Subject: [PATCH] Included link of the follow joint trajectory tutorial. --- example_5.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/example_5.md b/example_5.md index 7a0e8a6..74457b2 100644 --- a/example_5.md +++ b/example_5.md @@ -20,11 +20,11 @@ python joint_state_printer.py Your terminal will output the `position` information of the previously mentioned joints shown below. ``` name: ['joint_lift', 'joint_arm_l0', 'joint_arm_l1', 'joint_arm_l2', 'joint_arm_l3', 'joint_wrist_yaw'] -position: [0.1999999331290245, 1.7717894271534963e-08, -1.7970681569147034e-07, -1.749529388492682e-07, -1.2771705341686828e-07, 3.1399999740257574] +position: [1.004518435897309, 0.12361581673760723, 0.023224914142933994, 0.07758496706423101, 0.12309362763409384, 1.8771004095879587] ``` -It's important to note that the arm 4 collinear joints and the sum of these positions gives the wrist extension distance. Here is an image for reference: +It's important to note that the arm 4 collinear joints and the sum of these positions gives the wrist extension distance. The wrist extension is needed when sending [joint trajectory commands](follow_joint_trajectory.md) to the robot. Here is an image of the arm joints for reference: ![image](images/joints.png)