Spindle

Question 1

what is the name of the gripper type for a spindle?

Answer 1

SPINDLE

Question 2

How does one add a spindle in cfg?

Answer 2

add only one gripper in cfg with:
ID != 45
Grippertype = SPINDLE

Question 3

what is the spindle test workflow?

Answer 3

through Robot -> Manual Ctrl:
find pose where Spindle is parallel to one WCS axis
through Tool-Axes ensure 120° rotation is possible
take mpf from data/prototypen and adjust

Question 4

how does one identify a spindle with non centered targets?

Answer 4

point spindle towards tracker
rotate spindle through different positions
run parid only for spindle

Question 5

how does the simple spindle sanity check work?

Answer 5

• align spindle axis with world coordinate axis
• in MDA rotate around world axis
• measure manually
• in remote_isios output check if tracker jump value ~= measured value