SAHand.world File Reference

Detailed Description

The DLR-II robot hand.

Please, see the RobotHand.world example for details on how to model a grasping problem in the CuikSuite. In this case, the structure of the hand is slightly different but the contact points between the hand and the object are defined exactly in the same way (by giving points that must be in contact and normals that migth be aligned).

Please, see our IJRR-11 for more information on the use of CuikSuite in the context of grasping.

This example is treated following this steps (from the main CuikSuite folder):

  • Generate the equations:
  • Solve the positional analysis problem: Use the parallel version of cuik since this is a large problem with 190 variables and more than 150 equations. Observe that the process stops as soon as the first solution is found. However, it can take extremely long.
    • scripts/rmpicuik examples/RobotHand/SAHand
  • Visualize the obtained configuration:

Definition in file SAHand.world.