SAHandplusScalpel.world

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[CONSTANTS]

% Radius of the spheres representing contact points
rc:=0.1

% radius of the sphere modeling the fingertip
rho:=13

% radius of the sphere, the object itself
RS:=70

% qji_k is a vector expreseing the anchor point of reference frame i with respect to reference frame k of finger j.
% if k is not given, it means it is respect to the palm, which in our case, it is the absoulute one.

q11x := -4.3  
q11y := -40.165
q11z := 145.43
%q11 = q12 

q21x := -4.3
q21y := 0
q21z := 150.15
%q21 = q22 

q31x := -4.3
q31y := 40.165
q31z := 145.43
%q31 = q32 

q40x := -3
q40y := 27.1
q40z := 0

q41x_0:= 97
q41y_0:=  6
q41z_0:=-87
%q41_0 = q42_0 


% These anchor points can be seen as the length of the phalanges, 
% but that is because the phalanges are aligned with this vectors.
q13x_2 := 67.8
q13y_2 := 0
q13z_2 := 0

q14x_3 := 30
q14y_3 := 0
q14z_3 := 0


q23x_2 := 67.8
q23y_2 := 0
q23z_2 := 0

q24x_3 := 30
q24y_3 := 0
q24z_3 := 0


q33x_2 := 67.8
q33y_2 := 0
q33z_2 := 0

q34x_3 := 30
q34y_3 := 0
q34z_3 := 0


q43x_2 := 67.8
q43y_2 := 0
q43z_2 := 0

q44x_3 := 30
q44y_3 := 0
q44z_3 := 0


% Fingertip point vectors, qj5_4, and fingertip normal vector, mj_4
q15x_4 := 20
q15y_4 := -10
q15z_4 := 0
m1x_4 := 0.14
m1y_4 := 0
m1z_4 := 0.99

q25x_4 := 20
q25y_4 := 0
q25z_4 := 0
m2x_4 := 0.14
m2y_4 := 0
m2z_4 := 0.99

q35x_4 := 20
q35y_4 := 10
q35z_4 := 0
m3x_4 := 0.14
m3y_4 := 0
m3z_4 := 0.99

q45x_4 := 20
q45y_4 := 0
q45z_4 := 0
m4x_4 := 0.14
m4y_4 := 0
m4z_4 := 0.99


% Palm contact points vectors, and normal vector.
%point 1
qpx := 7.312-0.707*rho
qpy := 58.686-0.707*rho
qpz := 105.00
mpx := 0.707
mpy := 0.707
mpz := 0

beta_p := pi/3

% Joint ranges

% Two ranges for the universal joint connecting the palm and finger 1
phi_1_1_min:= 0
phi_1_1_max:= 0

phi_1_2_min:= 0
phi_1_2_max:= 0

% Range for the first rotation  in finger 1
phi_1_3_min:= 0
phi_1_3_max:= 0

% Range for the second rotation  in finger 1
phi_1_4_min:=  0
phi_1_4_max:=  0

% Range for contact point in finger 1
beta_1:= pi/3

% Two ranges for the universal joint connecting the palm and finger 2
phi_2_1_min:= -pi/8
phi_2_1_max:= pi/8

phi_2_2_min:= 0
phi_2_2_max:= pi/2

% Range for the first rotation  in finger 2
phi_2_3_min:= 0
phi_2_3_max:= pi/2

% Range for the second rotation  in finger 2
phi_2_4_min:= 0
phi_2_4_max:= pi/2

% Range for contact point in finger 2
beta_2:= pi/2

% Two ranges for the universal joint connecting the palm and finger 3
phi_3_1_min:= -pi/8
phi_3_1_max:= pi/8

phi_3_2_min:= 0
phi_3_2_max:= pi/2

% Range for the first rotation  in finger 3
phi_3_3_min:= 0
phi_3_3_max:= pi/2

% Range for the second rotation  in finger 3
phi_3_4_min:= 0
phi_3_4_max:= pi/2

% Range for contact point in finger 3
beta_3:= pi/2

% Two ranges for the universal joint connecting the palm and finger 4
phi_4_0_min:=0
phi_4_0_max:= pi/2

phi_4_1_min:= -pi/8
phi_4_1_max:= pi/8

phi_4_2_min:= 0
phi_4_2_max:= pi/2

% Range for the first rotation  in finger 4
phi_4_3_min:= 0
phi_4_3_max:= pi/2

% Range for the second rotation  in finger 4
phi_4_4_min:= 0
phi_4_4_max:= pi/2

% Range for contact point in finger 4
beta_4:= pi/3


% BEZIER PATCHES !!
%SCALPEL
%control points of the patches

% middle patch
b2_00_x_o := 9.14
b2_00_y_o := -6.92
b2_00_z_o := -1.779
b2_01_x_o := 9.316
b2_01_y_o := -6.92
b2_01_z_o := 0.001
b2_10_x_o := 9.14
b2_10_y_o := -12.26
b2_10_z_o := -1.779
b2_11_x_o := 9.316
b2_11_y_o := -12.260
b2_11_z_o := 0.001

% index patch
b3_00_x_o := -3.28
b3_00_y_o := -17.98
b3_00_z_o := -8.331
b3_01_x_o := -1.52
b3_01_y_o := -17.98
b3_01_z_o := -8.879
b3_10_x_o := -3.28
b3_10_y_o := -23.32
b3_10_z_o := -8.331
b3_11_x_o := -1.52
b3_11_y_o := -23.32
b3_11_z_o := -8.879

% thumb patch
b4_00_x_o := 0.264
b4_00_y_o := -6.92
b4_00_z_o := 9.057 
b4_01_x_o := -1.552
b4_01_y_o := -6.92
b4_01_z_o := 8.873
b4_10_x_o := 0.264
b4_10_y_o := -12.260
b4_10_z_o := 9.057
b4_11_x_o := -1.552
b4_11_y_o := -12.2260
b4_11_z_o := 8.873
            
% palm patch
bp_00_x_o := 9.316
bp_00_y_o := 198.968
bp_00_z_o := 0.001
bp_01_x_o := 9.132
bp_01_y_o := 198.968
bp_01_z_o := 1.817
bp_10_x_o := 9.316
bp_10_y_o := 104.416
bp_10_z_o := 0.001
bp_11_x_o := 9.132
bp_11_y_o := 104.416
bp_11_z_o := 1.817



%-------------------------------------------------------------------
%--------------------------------------------------------------------

[LINKS]

% palm
  palm: body "bodies/palmSAH.off" white
        body "bodies/acs1palm.off" blue
        body "bodies/acs2palm.off" blue
        body "bodies/acs3palm.off"

% finger 1
  p12: body "bodies/p1.off" white
       body "bodies/p2.off" white
       body "bodies/b2.off" blue

  p13: body "bodies/p3.off" white
  
  p14: body "bodies/p4.off" white
       body "bodies/b4.off" blue

% finger 2
  p22: body "bodies/p1.off" white
       body "bodies/p2.off" white
       body "bodies/b2.off" blue

  p23: body "bodies/p3.off" white
   
  p24: body "bodies/p4.off" white
       body "bodies/b4.off" blue

% finger 3
  p32: body "bodies/p1.off" white
       body "bodies/p2.off" white
       body "bodies/b2.off" blue

  p33: body "bodies/p3.off" white
   
  p34: body "bodies/p4.off" white
       body "bodies/b4.off" blue

% finger 4
  p40: body "bodies/p0thumb.off" white

  p42: body "bodies/p1.off" white
       body "bodies/p2.off" white
       body "bodies/b2.off" blue

  p43: body "bodies/p3.off" white
   
  p44: body "bodies/p4.off" white
       body "bodies/b4.off" blue

 object:  body "bodies/scalpel.off" white
%cyan sphere RS (0,0,0)

 X_P: green sphere rc (0,0,0) 

% X_1: green sphere rc (0,0,0) 
 
 X_2: green sphere rc (0,0,0)

 X_3: green sphere rc (0,0,0)
 
 X_4: green sphere rc (0,0,0)



[JOINTS]

% finger 1
  universal: palm (q11x,q11y,q11z)+(1,0,0) 
             p12 (0,0,0)+(0,1,0)
             range [phi_1_1_min,phi_1_1_max] +(0,-0.99941,0.034301) 
                   [phi_1_2_min,phi_1_2_max] +(0,0,1)
             avoid limits

  revolute: p12 (q13x_2,q13y_2,q13z_2)+(0,-1,0)
            p13 (0,0,0)+(0,-1,0)
            range [phi_1_3_min,phi_1_3_max] +(1,0,0) +(1,0,0)
            avoid limits

  revolute: p13 (q14x_3,q14y_3,q14z_3)+(0,-1,0) 
            p14 (0,0,0)+(0,-1,0)
            range [phi_1_4_min,phi_1_4_max] +(1,0,0) +(1,0,0)
            avoid limits

% finger 2
  universal: palm (q21x,q21y,q21z)+(1,0,0)
             p22 (0,0,0)+(0,1,0)
             range [phi_2_1_min,phi_2_1_max] +(0,-1,0) 
                   [phi_2_2_min,phi_2_2_max] +(0, 0,1)
             avoid limits

  revolute: p22 (q23x_2,q23y_2,q23z_2)+(0,-1,0)
            p23 (0,0,0)+(0,-1,0)
            range [phi_2_3_min,phi_2_3_max] +(1,0,0) +(1,0,0)
            avoid limits

  revolute: p23 (q24x_3,q24y_3,q24z_3)+(0,-1,0) 
            p24 (0,0,0)+(0,-1,0)
            range [phi_2_4_min,phi_2_4_max] +(1,0,0) +(1,0,0)
            avoid limits

% finger 3
  universal: palm (q31x,q31y,q31z)+(1,0,0)
             p32 (0,0,0)+(0,1,0)
             range [phi_3_1_min,phi_3_1_max] +(0,-0.99937,-0.035485) 
                   [phi_3_2_min,phi_3_2_max] +(0, 0,1)
             avoid limits

  revolute: p32 (q33x_2,q33y_2,q33z_2)+(0,-1,0)
            p33 (0,0,0)+(0,-1,0)
            range [phi_3_3_min,phi_3_3_max] +(1,0,0) +(1,0,0)
            avoid limits

  revolute: p33 (q34x_3,q34y_3,q34z_3)+(0,-1,0) 
            p34 (0,0,0)+(0,-1,0)
            range [phi_3_4_min,phi_3_4_max] +(1,0,0) +(1,0,0)
            avoid limits

% finger 4
  revolute: palm (q40x,q40y,q40z)+(0,0,-1)
            p40 (0,0,0)+(-1,0,0)
            range [phi_4_0_min,phi_4_0_max] +(0,-1,0) +(0,0,1)
            avoid limits

  universal: p40 (q41x_0,q41y_0,q41z_0)+(0.573580,0,0.81915)
             p42 (0,0,0)+(0,1,0)
             range [phi_4_1_min,phi_4_1_max] +(0,1,0)
                   [phi_4_2_min,phi_4_2_max] +(0,0,1)
             avoid limits

  revolute: p42 (q43x_2,q43y_2,q43z_2)+(0,-1,0)
            p43 (0,0,0)+(0,-1,0)
            range [phi_4_3_min,phi_4_3_max] +(1,0,0) +(1,0,0)
            avoid limits

  revolute: p43 (q44x_3,q44y_3,q44z_3)+(0,-1,0)
            p44 (0,0,0)+(0,-1,0)
            range [phi_4_4_min,phi_4_4_max] +(1,0,0) +(1,0,0)
            avoid limits

% KINEMATIC OF THE OBJECT-FINGER CONTACT
           

 SPHERICAL: p24 (q25x_4,q25y_4,q25z_4)
            X_2 (0,0,-rho)
            range [beta_2] +(m2x_4,m2y_4,m2z_4) +(0,0,1)
            avoid limits 

 in_patch: X_2 (0,0,0) (0,0,1)
           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)
           avoid limits

 SPHERICAL: p34 (q35x_4,q35y_4,q35z_4)
            X_3 (0,0,-rho)
            range [beta_3] +(m3x_4,m3y_4,m3z_4) +(0,0,1)
            avoid limits 

 in_patch: X_3 (0,0,0) (0,0,1)
           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)
           avoid limits

 SPHERICAL: p44 (q45x_4,q45y_4,q45z_4)
            X_4 (0,0,-rho)
            range [beta_4] +(m4x_4,m4y_4,m4z_4) +(0,0,1)
            avoid limits 

 in_patch: X_4 (0,0,0) (0,0,1)
           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)
           avoid limits
           
 SPHERICAL: palm (qpx,qpy,qpz)
            X_P (0,0,-rho)
            range [beta_p] +(mpx,mpy,mpz) +(0,0,1)
            avoid limits 

 in_patch: X_P (0,0,0) (0,0,1)
           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)
           avoid limits