I want to ask a few topics that are not mentioned in detail in the URDF course.
1-Parameters such as joint xyz = 0.0023 0 -0.0005 are given according to what. So if I take xyz as 0 0 0, would I do something wrong? And what does minus mean here?
2-I could not understand the difference between rpy = 0 1.5708 0 and rpy = 0 -1.5705 0. So when I do both +1.5708 it gives the same result. Why is one minus and the other plus? Also, for the pitch joint, the roll and yaw value is zero and only the pitch value is -1.5708, for the yaw joint, the roll and yaw value is zero, and only the pitch value is 1.5708. Why we always make the pitch value in rpy 1.5708.
3-What are the parameters kp, kd, mu1 and mu2? How are these values determined?
Thanks in advance for your helps.