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4 % Radius of the spheres representing contact points
7 % radius of the sphere modeling the fingertip
10 % radius of the sphere, the object itself
13 % qji_k is a vector expreseing the anchor point of reference frame i with respect to reference frame k of finger j.
14 % if k is not given, it means it is respect to the palm, which in our case, it is the absoulute one.
41 % These anchor points can be seen as the length of the phalanges,
42 % but that is because the phalanges are aligned with this vectors.
79 % Fingertip point vectors, qj5_4, and fingertip normal vector, mj_4
111 % Palm contact points vectors, and normal vector.
124 % Two ranges for the universal joint connecting the palm and finger 1
131 % Range for the first rotation in finger 1
135 % Range for the second rotation in finger 1
139 % Range for contact point in finger 1
142 % Two ranges for the universal joint connecting the palm and finger 2
149 % Range for the first rotation in finger 2
153 % Range for the second rotation in finger 2
157 % Range for contact point in finger 2
160 % Two ranges for the universal joint connecting the palm and finger 3
167 % Range for the first rotation in finger 3
171 % Range for the second rotation in finger 3
175 % Range for contact point in finger 3
178 % Two ranges for the universal joint connecting the palm and finger 4
188 % Range for the first rotation in finger 4
192 % Range for the second rotation in finger 4
196 % Range for contact point in finger 4
201 % 4 contacts, pillada por debajo
275 %-------------------------------------------------------------------
277 %--------------------------------------------------------------------
283 palm: body "bodies/palmSAH.off" white
284 body "bodies/acs1palm.off" blue
285 body "bodies/acs2palm.off" blue
286 body "bodies/acs3palm.off"
289 p12: body "bodies/p1.off" white
290 body "bodies/p2.off" white
291 body "bodies/b2.off" blue
293 p13: body "bodies/p3.off" white
295 p14: body "bodies/p4.off" white
296 body "bodies/b4.off" blue
299 p22: body "bodies/p1.off" white
300 body "bodies/p2.off" white
301 body "bodies/b2.off" blue
303 p23: body "bodies/p3.off" white
305 p24: body "bodies/p4.off" white
306 body "bodies/b4.off" blue
309 p32: body "bodies/p1.off" white
310 body "bodies/p2.off" white
311 body "bodies/b2.off" blue
313 p33: body "bodies/p3.off" white
315 p34: body "bodies/p4.off" white
316 body "bodies/b4.off" blue
319 p40: body "bodies/p0thumb.off" white
321 p42: body "bodies/p1.off" white
322 body "bodies/p2.off" white
323 body "bodies/b2.off" blue
325 p43: body "bodies/p3.off" white
327 p44: body "bodies/p4.off" white
328 body "bodies/b4.off" blue
330 object: body "bodies/teapot.off" red
331 %cyan sphere RS (0,0,0)
333 X_P: green sphere rc (0,0,0)
335 X_1: green sphere rc (0,0,0)
337 X_2: green sphere rc (0,0,0)
339 X_3: green sphere rc (0,0,0)
341 % X_4: green sphere rc (0,0,0)
348 universal: palm (q11x,q11y,q11z)+(1,0,0)
350 range [phi_1_1_min,phi_1_1_max] +(0,-0.99941,0.034301)
351 [phi_1_2_min,phi_1_2_max] +(0,0,1)
354 revolute: p12 (q13x_2,q13y_2,q13z_2)+(0,-1,0)
356 range [phi_1_3_min,phi_1_3_max] +(1,0,0) +(1,0,0)
359 revolute: p13 (q14x_3,q14y_3,q14z_3)+(0,-1,0)
361 range [phi_1_4_min,phi_1_4_max] +(1,0,0) +(1,0,0)
365 universal: palm (q21x,q21y,q21z)+(1,0,0)
367 range [phi_2_1_min,phi_2_1_max] +(0,-1,0)
368 [phi_2_2_min,phi_2_2_max] +(0, 0,1)
371 revolute: p22 (q23x_2,q23y_2,q23z_2)+(0,-1,0)
373 range [phi_2_3_min,phi_2_3_max] +(1,0,0) +(1,0,0)
376 revolute: p23 (q24x_3,q24y_3,q24z_3)+(0,-1,0)
378 range [phi_2_4_min,phi_2_4_max] +(1,0,0) +(1,0,0)
382 universal: palm (q31x,q31y,q31z)+(1,0,0)
384 range [phi_3_1_min,phi_3_1_max] +(0,-0.99937,-0.035485)
385 [phi_3_2_min,phi_3_2_max] +(0, 0,1)
388 revolute: p32 (q33x_2,q33y_2,q33z_2)+(0,-1,0)
390 range [phi_3_3_min,phi_3_3_max] +(1,0,0) +(1,0,0)
393 revolute: p33 (q34x_3,q34y_3,q34z_3)+(0,-1,0)
395 range [phi_3_4_min,phi_3_4_max] +(1,0,0) +(1,0,0)
399 revolute: palm (q40x,q40y,q40z)+(0,0,-1)
401 range [phi_4_0_min,phi_4_0_max] +(0,-1,0) +(0,0,1)
404 universal: p40 (q41x_0,q41y_0,q41z_0)+(0.573580,0,0.81915)
406 range [phi_4_1_min,phi_4_1_max] +(0,1,0)
407 [phi_4_2_min,phi_4_2_max] +(0,0,1)
410 revolute: p42 (q43x_2,q43y_2,q43z_2)+(0,-1,0)
412 range [phi_4_3_min,phi_4_3_max] +(1,0,0) +(1,0,0)
415 revolute: p43 (q44x_3,q44y_3,q44z_3)+(0,-1,0)
417 range [phi_4_4_min,phi_4_4_max] +(1,0,0) +(1,0,0)
420 % KINEMATIC OF THE OBJECT-FINGER CONTACT
423 SPHERICAL: p14 (q15x_4,q15y_4,q15z_4)
425 range [beta_1] +(m1x_4,m1y_4,m1z_4) +(0,0,1)
428 in_patch: X_1 (0,0,0) (0,0,1)
429 object (b1_00_x_o,b1_00_y_o,b1_00_z_o) (b1_01_x_o,b1_01_y_o,b1_01_z_o) (b1_10_x_o,b1_10_y_o,b1_10_z_o) (b1_11_x_o,b1_11_y_o,b1_11_z_o)
432 SPHERICAL: p24 (q25x_4,q25y_4,q25z_4)
434 range [beta_2] +(m2x_4,m2y_4,m2z_4) +(0,0,1)
437 in_patch: X_2 (0,0,0) (0,0,1)
438 object (b2_00_x_o,b2_00_y_o,b2_00_z_o) (b2_01_x_o,b2_01_y_o,b2_01_z_o) (b2_10_x_o,b2_10_y_o,b2_10_z_o) (b2_11_x_o,b2_11_y_o,b2_11_z_o)
441 SPHERICAL: p34 (q35x_4,q35y_4,q35z_4)
443 range [beta_3] +(m3x_4,m3y_4,m3z_4) +(0,0,1)
446 in_patch: X_3 (0,0,0) (0,0,1)
447 object (b3_00_x_o,b3_00_y_o,b3_00_z_o) (b3_01_x_o,b3_01_y_o,b3_01_z_o) (b3_10_x_o,b3_10_y_o,b3_10_z_o) (b3_11_x_o,b3_11_y_o,b3_11_z_o)
450 % SPHERICAL: p44 (q45x_4,q45y_4,q45z_4)
452 % range [beta_4] +(m4x_4,m4y_4,m4z_4) +(0,0,1)
455 % in_patch: X_4 (0,0,0) (0,0,1)
456 % object (b4_00_x_o,b4_00_y_o,b4_00_z_o) (b4_01_x_o,b4_01_y_o,b4_01_z_o) (b4_10_x_o,b4_10_y_o,b4_10_z_o) (b4_11_x_o,b4_11_y_o,b4_11_z_o)
459 SPHERICAL: palm (qpx,qpy,qpz)
461 range [beta_1] +(mpx,mpy,mpz) +(0,0,1)
464 in_patch: X_P (0,0,0) (0,0,1)
465 object (bp_00_x_o,bp_00_y_o,bp_00_z_o) (bp_01_x_o,bp_01_y_o,bp_01_z_o) (bp_10_x_o,bp_10_y_o,bp_10_z_o) (bp_11_x_o,bp_11_y_o,bp_11_z_o)
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