Contents
PR2 Gripper Transmission
Basic transmission equations:
latex error! exitcode was 1 (signal 0), transscript follows: This is pdfTeX, Version 3.14159265-2.6-1.40.19 (TeX Live 2018) (preloaded format=latex) kpathsea: Running mktexfmt latex.fmt mktexfmt: mktexfmt is using the following fmtutil.cnf files (in precedence order): mktexfmt: /usr/share/texlive/texmf-dist/web2c/fmtutil.cnf mktexfmt: mktexfmt is using the following fmtutil.cnf file for writing changes: mktexfmt: /usr/share/httpd/.texlive2018/texmf-config/web2c/fmtutil.cnf /usr/bin/mktexfmt: mkdir(/usr/share/httpd/.texlive2018/) failed: Permission denied I can't find the format file `latex.fmt'!
latex error! exitcode was 1 (signal 0), transscript follows: This is pdfTeX, Version 3.14159265-2.6-1.40.19 (TeX Live 2018) (preloaded format=latex) kpathsea: Running mktexfmt latex.fmt mktexfmt: mktexfmt is using the following fmtutil.cnf files (in precedence order): mktexfmt: /usr/share/texlive/texmf-dist/web2c/fmtutil.cnf mktexfmt: mktexfmt is using the following fmtutil.cnf file for writing changes: mktexfmt: /usr/share/httpd/.texlive2018/texmf-config/web2c/fmtutil.cnf /usr/bin/mktexfmt: mkdir(/usr/share/httpd/.texlive2018/) failed: Permission denied I can't find the format file `latex.fmt'!
Where
latex error! exitcode was 1 (signal 0), transscript follows: This is pdfTeX, Version 3.14159265-2.6-1.40.19 (TeX Live 2018) (preloaded format=latex) kpathsea: Running mktexfmt latex.fmt mktexfmt: mktexfmt is using the following fmtutil.cnf files (in precedence order): mktexfmt: /usr/share/texlive/texmf-dist/web2c/fmtutil.cnf mktexfmt: mktexfmt is using the following fmtutil.cnf file for writing changes: mktexfmt: /usr/share/httpd/.texlive2018/texmf-config/web2c/fmtutil.cnf /usr/bin/mktexfmt: mkdir(/usr/share/httpd/.texlive2018/) failed: Permission denied I can't find the format file `latex.fmt'!
gripper gap sizelatex error! exitcode was 1 (signal 0), transscript follows: This is pdfTeX, Version 3.14159265-2.6-1.40.19 (TeX Live 2018) (preloaded format=latex) kpathsea: Running mktexfmt latex.fmt mktexfmt: mktexfmt is using the following fmtutil.cnf files (in precedence order): mktexfmt: /usr/share/texlive/texmf-dist/web2c/fmtutil.cnf mktexfmt: mktexfmt is using the following fmtutil.cnf file for writing changes: mktexfmt: /usr/share/httpd/.texlive2018/texmf-config/web2c/fmtutil.cnf /usr/bin/mktexfmt: mkdir(/usr/share/httpd/.texlive2018/) failed: Permission denied I can't find the format file `latex.fmt'!
motor revolutionlatex error! exitcode was 1 (signal 0), transscript follows: This is pdfTeX, Version 3.14159265-2.6-1.40.19 (TeX Live 2018) (preloaded format=latex) kpathsea: Running mktexfmt latex.fmt mktexfmt: mktexfmt is using the following fmtutil.cnf files (in precedence order): mktexfmt: /usr/share/texlive/texmf-dist/web2c/fmtutil.cnf mktexfmt: mktexfmt is using the following fmtutil.cnf file for writing changes: mktexfmt: /usr/share/httpd/.texlive2018/texmf-config/web2c/fmtutil.cnf /usr/bin/mktexfmt: mkdir(/usr/share/httpd/.texlive2018/) failed: Permission denied I can't find the format file `latex.fmt'!
screw drivelatex error! exitcode was 1 (signal 0), transscript follows: This is pdfTeX, Version 3.14159265-2.6-1.40.19 (TeX Live 2018) (preloaded format=latex) kpathsea: Running mktexfmt latex.fmt mktexfmt: mktexfmt is using the following fmtutil.cnf files (in precedence order): mktexfmt: /usr/share/texlive/texmf-dist/web2c/fmtutil.cnf mktexfmt: mktexfmt is using the following fmtutil.cnf file for writing changes: mktexfmt: /usr/share/httpd/.texlive2018/texmf-config/web2c/fmtutil.cnf /usr/bin/mktexfmt: mkdir(/usr/share/httpd/.texlive2018/) failed: Permission denied I can't find the format file `latex.fmt'!
latex error! exitcode was 1 (signal 0), transscript follows: This is pdfTeX, Version 3.14159265-2.6-1.40.19 (TeX Live 2018) (preloaded format=latex) kpathsea: Running mktexfmt latex.fmt mktexfmt: mktexfmt is using the following fmtutil.cnf files (in precedence order): mktexfmt: /usr/share/texlive/texmf-dist/web2c/fmtutil.cnf mktexfmt: mktexfmt is using the following fmtutil.cnf file for writing changes: mktexfmt: /usr/share/httpd/.texlive2018/texmf-config/web2c/fmtutil.cnf /usr/bin/mktexfmt: mkdir(/usr/share/httpd/.texlive2018/) failed: Permission denied I can't find the format file `latex.fmt'!
intermediate variable.latex error! exitcode was 1 (signal 0), transscript follows: This is pdfTeX, Version 3.14159265-2.6-1.40.19 (TeX Live 2018) (preloaded format=latex) kpathsea: Running mktexfmt latex.fmt mktexfmt: mktexfmt is using the following fmtutil.cnf files (in precedence order): mktexfmt: /usr/share/texlive/texmf-dist/web2c/fmtutil.cnf mktexfmt: mktexfmt is using the following fmtutil.cnf file for writing changes: mktexfmt: /usr/share/httpd/.texlive2018/texmf-config/web2c/fmtutil.cnf /usr/bin/mktexfmt: mkdir(/usr/share/httpd/.texlive2018/) failed: Permission denied I can't find the format file `latex.fmt'!
gear ratiolatex error! exitcode was 1 (signal 0), transscript follows: This is pdfTeX, Version 3.14159265-2.6-1.40.19 (TeX Live 2018) (preloaded format=latex) kpathsea: Running mktexfmt latex.fmt mktexfmt: mktexfmt is using the following fmtutil.cnf files (in precedence order): mktexfmt: /usr/share/texlive/texmf-dist/web2c/fmtutil.cnf mktexfmt: mktexfmt is using the following fmtutil.cnf file for writing changes: mktexfmt: /usr/share/httpd/.texlive2018/texmf-config/web2c/fmtutil.cnf /usr/bin/mktexfmt: mkdir(/usr/share/httpd/.texlive2018/) failed: Permission denied I can't find the format file `latex.fmt'!
geometric constants of the gripper
Jacobians
latex error! exitcode was 1 (signal 0), transscript follows: This is pdfTeX, Version 3.14159265-2.6-1.40.19 (TeX Live 2018) (preloaded format=latex) kpathsea: Running mktexfmt latex.fmt mktexfmt: mktexfmt is using the following fmtutil.cnf files (in precedence order): mktexfmt: /usr/share/texlive/texmf-dist/web2c/fmtutil.cnf mktexfmt: mktexfmt is using the following fmtutil.cnf file for writing changes: mktexfmt: /usr/share/httpd/.texlive2018/texmf-config/web2c/fmtutil.cnf /usr/bin/mktexfmt: mkdir(/usr/share/httpd/.texlive2018/) failed: Permission denied I can't find the format file `latex.fmt'!
where
latex error! exitcode was 1 (signal 0), transscript follows: This is pdfTeX, Version 3.14159265-2.6-1.40.19 (TeX Live 2018) (preloaded format=latex) kpathsea: Running mktexfmt latex.fmt mktexfmt: mktexfmt is using the following fmtutil.cnf files (in precedence order): mktexfmt: /usr/share/texlive/texmf-dist/web2c/fmtutil.cnf mktexfmt: mktexfmt is using the following fmtutil.cnf file for writing changes: mktexfmt: /usr/share/httpd/.texlive2018/texmf-config/web2c/fmtutil.cnf /usr/bin/mktexfmt: mkdir(/usr/share/httpd/.texlive2018/) failed: Permission denied I can't find the format file `latex.fmt'!
latex error! exitcode was 1 (signal 0), transscript follows: This is pdfTeX, Version 3.14159265-2.6-1.40.19 (TeX Live 2018) (preloaded format=latex) kpathsea: Running mktexfmt latex.fmt mktexfmt: mktexfmt is using the following fmtutil.cnf files (in precedence order): mktexfmt: /usr/share/texlive/texmf-dist/web2c/fmtutil.cnf mktexfmt: mktexfmt is using the following fmtutil.cnf file for writing changes: mktexfmt: /usr/share/httpd/.texlive2018/texmf-config/web2c/fmtutil.cnf /usr/bin/mktexfmt: mkdir(/usr/share/httpd/.texlive2018/) failed: Permission denied I can't find the format file `latex.fmt'!
Inverse Transform (from $$\theta$$ to $$MR$$)
latex error! exitcode was 1 (signal 0), transscript follows: This is pdfTeX, Version 3.14159265-2.6-1.40.19 (TeX Live 2018) (preloaded format=latex) kpathsea: Running mktexfmt latex.fmt mktexfmt: mktexfmt is using the following fmtutil.cnf files (in precedence order): mktexfmt: /usr/share/texlive/texmf-dist/web2c/fmtutil.cnf mktexfmt: mktexfmt is using the following fmtutil.cnf file for writing changes: mktexfmt: /usr/share/httpd/.texlive2018/texmf-config/web2c/fmtutil.cnf /usr/bin/mktexfmt: mkdir(/usr/share/httpd/.texlive2018/) failed: Permission denied I can't find the format file `latex.fmt'!
latex error! exitcode was 1 (signal 0), transscript follows: This is pdfTeX, Version 3.14159265-2.6-1.40.19 (TeX Live 2018) (preloaded format=latex) kpathsea: Running mktexfmt latex.fmt mktexfmt: mktexfmt is using the following fmtutil.cnf files (in precedence order): mktexfmt: /usr/share/texlive/texmf-dist/web2c/fmtutil.cnf mktexfmt: mktexfmt is using the following fmtutil.cnf file for writing changes: mktexfmt: /usr/share/httpd/.texlive2018/texmf-config/web2c/fmtutil.cnf /usr/bin/mktexfmt: mkdir(/usr/share/httpd/.texlive2018/) failed: Permission denied I can't find the format file `latex.fmt'!
latex error! exitcode was 1 (signal 0), transscript follows: This is pdfTeX, Version 3.14159265-2.6-1.40.19 (TeX Live 2018) (preloaded format=latex) kpathsea: Running mktexfmt latex.fmt mktexfmt: mktexfmt is using the following fmtutil.cnf files (in precedence order): mktexfmt: /usr/share/texlive/texmf-dist/web2c/fmtutil.cnf mktexfmt: mktexfmt is using the following fmtutil.cnf file for writing changes: mktexfmt: /usr/share/httpd/.texlive2018/texmf-config/web2c/fmtutil.cnf /usr/bin/mktexfmt: mkdir(/usr/share/httpd/.texlive2018/) failed: Permission denied I can't find the format file `latex.fmt'!
latex error! exitcode was 1 (signal 0), transscript follows: This is pdfTeX, Version 3.14159265-2.6-1.40.19 (TeX Live 2018) (preloaded format=latex) kpathsea: Running mktexfmt latex.fmt mktexfmt: mktexfmt is using the following fmtutil.cnf files (in precedence order): mktexfmt: /usr/share/texlive/texmf-dist/web2c/fmtutil.cnf mktexfmt: mktexfmt is using the following fmtutil.cnf file for writing changes: mktexfmt: /usr/share/httpd/.texlive2018/texmf-config/web2c/fmtutil.cnf /usr/bin/mktexfmt: mkdir(/usr/share/httpd/.texlive2018/) failed: Permission denied I can't find the format file `latex.fmt'!where
latex error! exitcode was 1 (signal 0), transscript follows: This is pdfTeX, Version 3.14159265-2.6-1.40.19 (TeX Live 2018) (preloaded format=latex) kpathsea: Running mktexfmt latex.fmt mktexfmt: mktexfmt is using the following fmtutil.cnf files (in precedence order): mktexfmt: /usr/share/texlive/texmf-dist/web2c/fmtutil.cnf mktexfmt: mktexfmt is using the following fmtutil.cnf file for writing changes: mktexfmt: /usr/share/httpd/.texlive2018/texmf-config/web2c/fmtutil.cnf /usr/bin/mktexfmt: mkdir(/usr/share/httpd/.texlive2018/) failed: Permission denied I can't find the format file `latex.fmt'!and
latex error! exitcode was 1 (signal 0), transscript follows: This is pdfTeX, Version 3.14159265-2.6-1.40.19 (TeX Live 2018) (preloaded format=latex) kpathsea: Running mktexfmt latex.fmt mktexfmt: mktexfmt is using the following fmtutil.cnf files (in precedence order): mktexfmt: /usr/share/texlive/texmf-dist/web2c/fmtutil.cnf mktexfmt: mktexfmt is using the following fmtutil.cnf file for writing changes: mktexfmt: /usr/share/httpd/.texlive2018/texmf-config/web2c/fmtutil.cnf /usr/bin/mktexfmt: mkdir(/usr/share/httpd/.texlive2018/) failed: Permission denied I can't find the format file `latex.fmt'!
Transmissions
Denote
joint_state->position by $$P_j$$ : gripper gap size in meters
actuator_state->position by $$P_a$$ : motor angle in radians
joint_state->velocity by $$V_j$$ : gripper gap velocity in meters per second
actuator_state->velocity by $$V_a$$ : motor angular rate in radians per second
joint_state->effort by $$E_j$$ : in Newtons
actuator_state->effort by $$E_a$$ : motor torque in Newton-Meters
Propagate From Actuator State to Joint State $$(P_a,V_a,E_a) \rarr (P_j,V_j,E_j)$$
Motor angle in radians ($$P_a$$) is converted to motor revolutions ($$MR$$),
latex error! exitcode was 1 (signal 0), transscript follows: This is pdfTeX, Version 3.14159265-2.6-1.40.19 (TeX Live 2018) (preloaded format=latex) kpathsea: Running mktexfmt latex.fmt mktexfmt: mktexfmt is using the following fmtutil.cnf files (in precedence order): mktexfmt: /usr/share/texlive/texmf-dist/web2c/fmtutil.cnf mktexfmt: mktexfmt is using the following fmtutil.cnf file for writing changes: mktexfmt: /usr/share/httpd/.texlive2018/texmf-config/web2c/fmtutil.cnf /usr/bin/mktexfmt: mkdir(/usr/share/httpd/.texlive2018/) failed: Permission denied I can't find the format file `latex.fmt'!
and we have the transmission equation for gripper gap size above
latex error! exitcode was 1 (signal 0), transscript follows: This is pdfTeX, Version 3.14159265-2.6-1.40.19 (TeX Live 2018) (preloaded format=latex) kpathsea: Running mktexfmt latex.fmt mktexfmt: mktexfmt is using the following fmtutil.cnf files (in precedence order): mktexfmt: /usr/share/texlive/texmf-dist/web2c/fmtutil.cnf mktexfmt: mktexfmt is using the following fmtutil.cnf file for writing changes: mktexfmt: /usr/share/httpd/.texlive2018/texmf-config/web2c/fmtutil.cnf /usr/bin/mktexfmt: mkdir(/usr/share/httpd/.texlive2018/) failed: Permission denied I can't find the format file `latex.fmt'!.
Motor angular rates in radians per second (
latex error! exitcode was 1 (signal 0), transscript follows: This is pdfTeX, Version 3.14159265-2.6-1.40.19 (TeX Live 2018) (preloaded format=latex) kpathsea: Running mktexfmt latex.fmt mktexfmt: mktexfmt is using the following fmtutil.cnf files (in precedence order): mktexfmt: /usr/share/texlive/texmf-dist/web2c/fmtutil.cnf mktexfmt: mktexfmt is using the following fmtutil.cnf file for writing changes: mktexfmt: /usr/share/httpd/.texlive2018/texmf-config/web2c/fmtutil.cnf /usr/bin/mktexfmt: mkdir(/usr/share/httpd/.texlive2018/) failed: Permission denied I can't find the format file `latex.fmt'!) is converted to revolutions per second,
latex error! exitcode was 1 (signal 0), transscript follows: This is pdfTeX, Version 3.14159265-2.6-1.40.19 (TeX Live 2018) (preloaded format=latex) kpathsea: Running mktexfmt latex.fmt mktexfmt: mktexfmt is using the following fmtutil.cnf files (in precedence order): mktexfmt: /usr/share/texlive/texmf-dist/web2c/fmtutil.cnf mktexfmt: mktexfmt is using the following fmtutil.cnf file for writing changes: mktexfmt: /usr/share/httpd/.texlive2018/texmf-config/web2c/fmtutil.cnf /usr/bin/mktexfmt: mkdir(/usr/share/httpd/.texlive2018/) failed: Permission denied I can't find the format file `latex.fmt'!
and the gripper gap velocity is approximated by
latex error! exitcode was 1 (signal 0), transscript follows: This is pdfTeX, Version 3.14159265-2.6-1.40.19 (TeX Live 2018) (preloaded format=latex) kpathsea: Running mktexfmt latex.fmt mktexfmt: mktexfmt is using the following fmtutil.cnf files (in precedence order): mktexfmt: /usr/share/texlive/texmf-dist/web2c/fmtutil.cnf mktexfmt: mktexfmt is using the following fmtutil.cnf file for writing changes: mktexfmt: /usr/share/httpd/.texlive2018/texmf-config/web2c/fmtutil.cnf /usr/bin/mktexfmt: mkdir(/usr/share/httpd/.texlive2018/) failed: Permission denied I can't find the format file `latex.fmt'!
Given motor torque
latex error! exitcode was 1 (signal 0), transscript follows: This is pdfTeX, Version 3.14159265-2.6-1.40.19 (TeX Live 2018) (preloaded format=latex) kpathsea: Running mktexfmt latex.fmt mktexfmt: mktexfmt is using the following fmtutil.cnf files (in precedence order): mktexfmt: /usr/share/texlive/texmf-dist/web2c/fmtutil.cnf mktexfmt: mktexfmt is using the following fmtutil.cnf file for writing changes: mktexfmt: /usr/share/httpd/.texlive2018/texmf-config/web2c/fmtutil.cnf /usr/bin/mktexfmt: mkdir(/usr/share/httpd/.texlive2018/) failed: Permission denied I can't find the format file `latex.fmt'!, gripper effort
latex error! exitcode was 1 (signal 0), transscript follows: This is pdfTeX, Version 3.14159265-2.6-1.40.19 (TeX Live 2018) (preloaded format=latex) kpathsea: Running mktexfmt latex.fmt mktexfmt: mktexfmt is using the following fmtutil.cnf files (in precedence order): mktexfmt: /usr/share/texlive/texmf-dist/web2c/fmtutil.cnf mktexfmt: mktexfmt is using the following fmtutil.cnf file for writing changes: mktexfmt: /usr/share/httpd/.texlive2018/texmf-config/web2c/fmtutil.cnf /usr/bin/mktexfmt: mkdir(/usr/share/httpd/.texlive2018/) failed: Permission denied I can't find the format file `latex.fmt'!is approximated by
latex error! exitcode was 1 (signal 0), transscript follows: This is pdfTeX, Version 3.14159265-2.6-1.40.19 (TeX Live 2018) (preloaded format=latex) kpathsea: Running mktexfmt latex.fmt mktexfmt: mktexfmt is using the following fmtutil.cnf files (in precedence order): mktexfmt: /usr/share/texlive/texmf-dist/web2c/fmtutil.cnf mktexfmt: mktexfmt is using the following fmtutil.cnf file for writing changes: mktexfmt: /usr/share/httpd/.texlive2018/texmf-config/web2c/fmtutil.cnf /usr/bin/mktexfmt: mkdir(/usr/share/httpd/.texlive2018/) failed: Permission denied I can't find the format file `latex.fmt'!
where
latex error! exitcode was 1 (signal 0), transscript follows: This is pdfTeX, Version 3.14159265-2.6-1.40.19 (TeX Live 2018) (preloaded format=latex) kpathsea: Running mktexfmt latex.fmt mktexfmt: mktexfmt is using the following fmtutil.cnf files (in precedence order): mktexfmt: /usr/share/texlive/texmf-dist/web2c/fmtutil.cnf mktexfmt: mktexfmt is using the following fmtutil.cnf file for writing changes: mktexfmt: /usr/share/httpd/.texlive2018/texmf-config/web2c/fmtutil.cnf /usr/bin/mktexfmt: mkdir(/usr/share/httpd/.texlive2018/) failed: Permission denied I can't find the format file `latex.fmt'!is the moment of inertia at the motor and
latex error! exitcode was 1 (signal 0), transscript follows: This is pdfTeX, Version 3.14159265-2.6-1.40.19 (TeX Live 2018) (preloaded format=latex) kpathsea: Running mktexfmt latex.fmt mktexfmt: mktexfmt is using the following fmtutil.cnf files (in precedence order): mktexfmt: /usr/share/texlive/texmf-dist/web2c/fmtutil.cnf mktexfmt: mktexfmt is using the following fmtutil.cnf file for writing changes: mktexfmt: /usr/share/httpd/.texlive2018/texmf-config/web2c/fmtutil.cnf /usr/bin/mktexfmt: mkdir(/usr/share/httpd/.texlive2018/) failed: Permission denied I can't find the format file `latex.fmt'!is defined as
latex error! exitcode was 1 (signal 0), transscript follows: This is pdfTeX, Version 3.14159265-2.6-1.40.19 (TeX Live 2018) (preloaded format=latex) kpathsea: Running mktexfmt latex.fmt mktexfmt: mktexfmt is using the following fmtutil.cnf files (in precedence order): mktexfmt: /usr/share/texlive/texmf-dist/web2c/fmtutil.cnf mktexfmt: mktexfmt is using the following fmtutil.cnf file for writing changes: mktexfmt: /usr/share/httpd/.texlive2018/texmf-config/web2c/fmtutil.cnf /usr/bin/mktexfmt: mkdir(/usr/share/httpd/.texlive2018/) failed: Permission denied I can't find the format file `latex.fmt'!is the motor torque in
latex error! exitcode was 1 (signal 0), transscript follows: This is pdfTeX, Version 3.14159265-2.6-1.40.19 (TeX Live 2018) (preloaded format=latex) kpathsea: Running mktexfmt latex.fmt mktexfmt: mktexfmt is using the following fmtutil.cnf files (in precedence order): mktexfmt: /usr/share/texlive/texmf-dist/web2c/fmtutil.cnf mktexfmt: mktexfmt is using the following fmtutil.cnf file for writing changes: mktexfmt: /usr/share/httpd/.texlive2018/texmf-config/web2c/fmtutil.cnf /usr/bin/mktexfmt: mkdir(/usr/share/httpd/.texlive2018/) failed: Permission denied I can't find the format file `latex.fmt'!.
Propagate From Joint State to Actuator State $$(P_j,V_j,E_j) \rarr (P_a,V_a,E_a)$$
pretty much the reverse of previous section, given
latex error! exitcode was 1 (signal 0), transscript follows: This is pdfTeX, Version 3.14159265-2.6-1.40.19 (TeX Live 2018) (preloaded format=latex) kpathsea: Running mktexfmt latex.fmt mktexfmt: mktexfmt is using the following fmtutil.cnf files (in precedence order): mktexfmt: /usr/share/texlive/texmf-dist/web2c/fmtutil.cnf mktexfmt: mktexfmt is using the following fmtutil.cnf file for writing changes: mktexfmt: /usr/share/httpd/.texlive2018/texmf-config/web2c/fmtutil.cnf /usr/bin/mktexfmt: mkdir(/usr/share/httpd/.texlive2018/) failed: Permission denied I can't find the format file `latex.fmt'!, inverse transmission gives
latex error! exitcode was 1 (signal 0), transscript follows: This is pdfTeX, Version 3.14159265-2.6-1.40.19 (TeX Live 2018) (preloaded format=latex) kpathsea: Running mktexfmt latex.fmt mktexfmt: mktexfmt is using the following fmtutil.cnf files (in precedence order): mktexfmt: /usr/share/texlive/texmf-dist/web2c/fmtutil.cnf mktexfmt: mktexfmt is using the following fmtutil.cnf file for writing changes: mktexfmt: /usr/share/httpd/.texlive2018/texmf-config/web2c/fmtutil.cnf /usr/bin/mktexfmt: mkdir(/usr/share/httpd/.texlive2018/) failed: Permission denied I can't find the format file `latex.fmt'!, and
latex error! exitcode was 1 (signal 0), transscript follows: This is pdfTeX, Version 3.14159265-2.6-1.40.19 (TeX Live 2018) (preloaded format=latex) kpathsea: Running mktexfmt latex.fmt mktexfmt: mktexfmt is using the following fmtutil.cnf files (in precedence order): mktexfmt: /usr/share/texlive/texmf-dist/web2c/fmtutil.cnf mktexfmt: mktexfmt is using the following fmtutil.cnf file for writing changes: mktexfmt: /usr/share/httpd/.texlive2018/texmf-config/web2c/fmtutil.cnf /usr/bin/mktexfmt: mkdir(/usr/share/httpd/.texlive2018/) failed: Permission denied I can't find the format file `latex.fmt'!.
latex error! exitcode was 1 (signal 0), transscript follows: This is pdfTeX, Version 3.14159265-2.6-1.40.19 (TeX Live 2018) (preloaded format=latex) kpathsea: Running mktexfmt latex.fmt mktexfmt: mktexfmt is using the following fmtutil.cnf files (in precedence order): mktexfmt: /usr/share/texlive/texmf-dist/web2c/fmtutil.cnf mktexfmt: mktexfmt is using the following fmtutil.cnf file for writing changes: mktexfmt: /usr/share/httpd/.texlive2018/texmf-config/web2c/fmtutil.cnf /usr/bin/mktexfmt: mkdir(/usr/share/httpd/.texlive2018/) failed: Permission denied I can't find the format file `latex.fmt'!
latex error! exitcode was 1 (signal 0), transscript follows: This is pdfTeX, Version 3.14159265-2.6-1.40.19 (TeX Live 2018) (preloaded format=latex) kpathsea: Running mktexfmt latex.fmt mktexfmt: mktexfmt is using the following fmtutil.cnf files (in precedence order): mktexfmt: /usr/share/texlive/texmf-dist/web2c/fmtutil.cnf mktexfmt: mktexfmt is using the following fmtutil.cnf file for writing changes: mktexfmt: /usr/share/httpd/.texlive2018/texmf-config/web2c/fmtutil.cnf /usr/bin/mktexfmt: mkdir(/usr/share/httpd/.texlive2018/) failed: Permission denied I can't find the format file `latex.fmt'!
Known Limitations
- Gripper transmission produced gripper effort differs from actual measured gripper effort by +/-20%.
