RobotHandDirect.world File Reference

Direct Kinematics for a generic robot anthropomorphic hand with 4 fingers. More...

Detailed Description

This is an auxiliary file for the RobotHand example.

This file allow to fix the angular inputs for all the joints in the robot hand (see the phi_i_j and r_i_j parameters at the beginning of section [CONSTANTS]) and to get the position of the contact points on the fingers as well as the normal vectors at those points (the r_X_i and the X_i_w vectors).

This file is only valid as far as changes in the parameters of the RobotHand example or in the contact point in the last phalanges reference frame are translated here.

Definition in file RobotHandDirect.world.