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5 % qji_k is a vector expressing the anchor point of reference
6 % frame i with respect to reference frame k of finger j.
7 % if k is not given, it means it is respect to the palm,
8 % which in our case, it is the absoulute one.
28 % These anchor points can be seen as the length of the phalanges,
29 % but that is because the phalanges are aligned with this vectors.
86 % We can symmetrically enlarge the ranges for the joints so that
87 % the hand can better manipulate objects without regrasping.
88 % Set to zero to use the original ranges
89 enlarge_range := 20*pi/180
92 % Two ranges for the universal joint connecting the palm and finger 2
94 phi_2_1_min:= -pi/8 -enlarge_range
95 phi_2_1_max:= pi/8 +enlarge_range
98 phi_2_2_min:= 0 -enlarge_range
99 phi_2_2_max:= pi/2 +enlarge_range
101 % Range for the first rotation in finger 2
103 phi_2_3_min:= 0 -enlarge_range
104 phi_2_3_max:= pi/2 +enlarge_range
106 % Range for the second rotation in finger 2
108 phi_2_4_min:= 0 -enlarge_range
109 phi_2_4_max:= pi/2 +enlarge_range
112 % Two ranges for the universal joint connecting the palm and finger 3
114 phi_3_1_min:= -pi/8 -enlarge_range
115 phi_3_1_max:= pi/8 +enlarge_range
118 phi_3_2_min:= 0 -enlarge_range
119 phi_3_2_max:= pi/2 +enlarge_range
121 % Range for the first rotation in finger 3
123 phi_3_3_min:= 0 -enlarge_range
124 phi_3_3_max:= pi/2 +enlarge_range
126 % Range for the second rotation in finger 3
128 phi_3_4_min:= 0 -enlarge_range
129 phi_3_4_max:= pi/2 +enlarge_range
131 % Range for the contact rotation
136 % Two ranges for the universal joint connecting the palm and finger 4
138 phi_4_0_min:= 0 -enlarge_range
139 phi_4_0_max:= pi/2 +enlarge_range
142 phi_4_1_min:= -pi/8 -enlarge_range
143 phi_4_1_max:= pi/8 +enlarge_range
146 phi_4_2_min:= 0 -enlarge_range
147 phi_4_2_max:= pi/2 +enlarge_range
149 % Range for the first rotation in finger 4
151 phi_4_3_min:= 0 -enlarge_range
152 phi_4_3_max:= pi/2 +enlarge_range
154 % Range for the second rotation in finger 4
156 phi_4_4_min:= 0 -enlarge_range
157 phi_4_4_max:= pi/2 +enlarge_range
159 % Range for the contact rotation
164 %-------------------------------------------------------------------
165 %--------------------------------------------------------------------
170 palm:body "bodies/palmSAH.off" white
171 body "bodies/acs1palm.off" blue
172 body "bodies/acs2palm.off" blue
173 body "bodies/acs3palm.off"
176 body "bodies/p1_fix.off" white
177 body "bodies/p2_fix.off" white
178 body "bodies/b2_fix.off" blue
179 body "bodies/p3_fix.off" white
180 body "bodies/p4_fix.off" white
181 body "bodies/b4_fix.off" blue
184 p22: body "bodies/p1.off" white
185 body "bodies/p2.off" white
186 body "bodies/b2.off" blue
188 p23: body "bodies/p3.off" white
190 p24: body "bodies/p4.off" white decoration
191 body "bodies/b4.off" blue
194 p32: body "bodies/p1.off" white
195 body "bodies/p2.off" white
196 body "bodies/b2.off" blue
198 p33: body "bodies/p3.off" white
200 p34: body "bodies/p4.off" white
201 body "bodies/b4.off" blue
204 p40: body "bodies/p0thumb.off" white
206 p42: body "bodies/p1.off" white
207 body "bodies/p2.off" white
208 body "bodies/b2.off" blue
210 p43: body "bodies/p3.off" white
212 p44: body "bodies/p4.off" white
213 body "bodies/b4.off" blue
217 can2 - body "bodies/can.off" red
220 % p25: sphere 0.5 (0,0,0) green
222 p35: sphere 0.5 (0,0,0) green
224 p45: sphere 0.75 (0,0,0) green
229 universal: palm (q21x,q21y,q21z)+(1,0,0)
231 range [phi_2_1_min,phi_2_1_max] +(0,1,0)
232 [phi_2_2_min,phi_2_2_max] +(0,0,1)
234 revolute: p22 (q23x_2,q23y_2,q23z_2)+(0,-1,0)
236 range [phi_2_3_min,phi_2_3_max] +(1,0,0) +(1,0,0)
238 revolute: p23 (q24x_3,q24y_3,q24z_3)+(0,-1,0)
240 range [phi_2_4_min,phi_2_4_max] +(1,0,0) +(1,0,0)
244 universal: palm (q31x,q31y,q31z)+(1,0,0)
246 range [phi_3_1_min,phi_3_1_max] +(0,0.99937,0.035485)
247 [phi_3_2_min,phi_3_2_max] +(0,0,1)
249 revolute: p32 (q33x_2,q33y_2,q33z_2)+(0,-1,0)
251 range [phi_3_3_min,phi_3_3_max] +(1,0,0) +(1,0,0)
253 revolute: p33 (q34x_3,q34y_3,q34z_3)+(0,-1,0)
255 range [phi_3_4_min,phi_3_4_max] +(1,0,0) +(1,0,0)
259 revolute: palm (q40x,q40y,q40z)+(0,0,-1)
261 range [phi_4_0_min,phi_4_0_max] +(0,-1,0) +(0,0,1)
263 universal: p40 (q41x_0,q41y_0,q41z_0) +(0.573580,0,0.81915)
265 range [phi_4_1_min,phi_4_1_max] +(0,-1,0)
266 [phi_4_2_min,phi_4_2_max] +(0,0,1)
268 revolute: p42 (q43x_2,q43y_2,q43z_2)+(0,-1,0)
270 range [phi_4_3_min,phi_4_3_max] +(1,0,0) +(1,0,0)
272 revolute: p43 (q44x_3,q44y_3,q44z_3)+(0,-1,0)
274 range [phi_4_4_min,phi_4_4_max] +(1,0,0) +(1,0,0)
276 % contact joints (after the hand joints)
278 revolute: p34 (q35x_4,q35y_4,0)+(0,1,0)
279 p35 (0,0,q35z_4)+(0,1,0)
280 range [phi_3_5_min,phi_3_5_max] +(0,0,1) +(0,0,1)
282 revolute: p44 (q45x_4,q45y_4,0)+(0,1,0)
283 p45 (0,0,q45z_4)+(0,1,0)
284 range [phi_4_5_min,phi_4_5_max] +(0,0,1) +(0,0,1)
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