RSShand_can2.world
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1 
3 [CONSTANTS]
4 
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.
9 
10 q21x := -4.3
11 q21y := 0
12 q21z := 150.15
13 
14 q31x := -4.3
15 q31y := 40.165
16 q31z := 145.43
17 
18 % Thumb
19 
20 q40x := -3
21 q40y := 27.1
22 q40z := 0
23 
24 q41x_0:= 97
25 q41y_0:= 6
26 q41z_0:=-87
27 
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.
30 
31 % finger 1
32 q13x_2 := 67.8
33 q13y_2 := 0
34 q13z_2 := 0
35 
36 q14x_3 := 30
37 q14y_3 := 0
38 q14z_3 := 0
39 
40 q15x_4 := 27
41 q15y_4 := 0
42 q15z_4 :=-12.5
43 
44 % finger 2
45 q23x_2 := 67.8
46 q23y_2 := 0
47 q23z_2 := 0
48 
49 q24x_3 := 30
50 q24y_3 := 0
51 q24z_3 := 0
52 
53 q25x_4 := 27
54 q25y_4 := 0
55 q25z_4 :=-12.5
56 
57 % finger 3
58 q33x_2 := 67.8
59 q33y_2 := 0
60 q33z_2 := 0
61 
62 q34x_3 := 30
63 q34y_3 := 0
64 q34z_3 := 0
65 
66 q35x_4 := 27
67 q35y_4 := 0
68 q35z_4 :=-12.5
69 
70 % finger 4
71 q43x_2 := 67.8
72 q43y_2 := 0
73 q43z_2 := 0
74 
75 q44x_3 := 30
76 q44y_3 := 0
77 q44z_3 := 0
78 
79 q45x_4 := 27
80 q45y_4 := 0
81 q45z_4 :=-12.5
82 
83 
84 % Joint ranges
85 
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
90 
91 
92 % Two ranges for the universal joint connecting the palm and finger 2
93 % -pi/16
94 phi_2_1_min:= -pi/8 -enlarge_range
95 phi_2_1_max:= pi/8 +enlarge_range
96 
97 % 1.35*pi/16
98 phi_2_2_min:= 0 -enlarge_range
99 phi_2_2_max:= pi/2 +enlarge_range
100 
101 % Range for the first rotation in finger 2
102 % pi/8
103 phi_2_3_min:= 0 -enlarge_range
104 phi_2_3_max:= pi/2 +enlarge_range
105 
106 % Range for the second rotation in finger 2
107 % pi/8
108 phi_2_4_min:= 0 -enlarge_range
109 phi_2_4_max:= pi/2 +enlarge_range
110 
111 
112 % Two ranges for the universal joint connecting the palm and finger 3
113 % -pi/16
114 phi_3_1_min:= -pi/8 -enlarge_range
115 phi_3_1_max:= pi/8 +enlarge_range
116 
117 % 1.2*pi/16
118 phi_3_2_min:= 0 -enlarge_range
119 phi_3_2_max:= pi/2 +enlarge_range
120 
121 % Range for the first rotation in finger 3
122 % pi/8
123 phi_3_3_min:= 0 -enlarge_range
124 phi_3_3_max:= pi/2 +enlarge_range
125 
126 % Range for the second rotation in finger 3
127 % pi/8
128 phi_3_4_min:= 0 -enlarge_range
129 phi_3_4_max:= pi/2 +enlarge_range
130 
131 % Range for the contact rotation
132 phi_3_5_min:= 0
133 phi_3_5_max:= pi/2
134 
135 
136 % Two ranges for the universal joint connecting the palm and finger 4
137 % pi/2
138 phi_4_0_min:= 0 -enlarge_range
139 phi_4_0_max:= pi/2 +enlarge_range
140 
141 % 0
142 phi_4_1_min:= -pi/8 -enlarge_range
143 phi_4_1_max:= pi/8 +enlarge_range
144 
145 % 0
146 phi_4_2_min:= 0 -enlarge_range
147 phi_4_2_max:= pi/2 +enlarge_range
148 
149 % Range for the first rotation in finger 4
150 % 3*pi/16
151 phi_4_3_min:= 0 -enlarge_range
152 phi_4_3_max:= pi/2 +enlarge_range
153 
154 % Range for the second rotation in finger 4
155 % 3*pi/16
156 phi_4_4_min:= 0 -enlarge_range
157 phi_4_4_max:= pi/2 +enlarge_range
158 
159 % Range for the contact rotation
160 phi_4_5_min:= 0
161 phi_4_5_max:= pi/2
162 
163 
164 %-------------------------------------------------------------------
165 %--------------------------------------------------------------------
166 
167 [LINKS]
168 
169 % palm
170  palm:body "bodies/palmSAH.off" white
171  body "bodies/acs1palm.off" blue
172  body "bodies/acs2palm.off" blue
173  body "bodies/acs3palm.off"
174 
175  // finger 1 fixed to the palm
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
182 
183 % finger 2
184  p22: body "bodies/p1.off" white
185  body "bodies/p2.off" white
186  body "bodies/b2.off" blue
187 
188  p23: body "bodies/p3.off" white
189 
190  p24: body "bodies/p4.off" white decoration
191  body "bodies/b4.off" blue
192 
193 % finger 3
194  p32: body "bodies/p1.off" white
195  body "bodies/p2.off" white
196  body "bodies/b2.off" blue
197 
198  p33: body "bodies/p3.off" white
199 
200  p34: body "bodies/p4.off" white
201  body "bodies/b4.off" blue
202 
203 % finger 4
204  p40: body "bodies/p0thumb.off" white
205 
206  p42: body "bodies/p1.off" white
207  body "bodies/p2.off" white
208  body "bodies/b2.off" blue
209 
210  p43: body "bodies/p3.off" white
211 
212  p44: body "bodies/p4.off" white
213  body "bodies/b4.off" blue
214 
215 
216 % object
217  can2 - body "bodies/can.off" red
218 
219 % contact links
220 % p25: sphere 0.5 (0,0,0) green
221 
222  p35: sphere 0.5 (0,0,0) green
223 
224  p45: sphere 0.75 (0,0,0) green
225 
226 [JOINTS]
227 
228 % finger 2
229  universal: palm (q21x,q21y,q21z)+(1,0,0)
230  p22 (0,0,0)+(0,-1,0)
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)
233 
234  revolute: p22 (q23x_2,q23y_2,q23z_2)+(0,-1,0)
235  p23 (0,0,0)+(0,-1,0)
236  range [phi_2_3_min,phi_2_3_max] +(1,0,0) +(1,0,0)
237 
238  revolute: p23 (q24x_3,q24y_3,q24z_3)+(0,-1,0)
239  p24 (0,0,0)+(0,-1,0)
240  range [phi_2_4_min,phi_2_4_max] +(1,0,0) +(1,0,0)
241 
242 
243 % finger 3
244  universal: palm (q31x,q31y,q31z)+(1,0,0)
245  p32 (0,0,0)+(0,-1,0)
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)
248 
249  revolute: p32 (q33x_2,q33y_2,q33z_2)+(0,-1,0)
250  p33 (0,0,0)+(0,-1,0)
251  range [phi_3_3_min,phi_3_3_max] +(1,0,0) +(1,0,0)
252 
253  revolute: p33 (q34x_3,q34y_3,q34z_3)+(0,-1,0)
254  p34 (0,0,0)+(0,-1,0)
255  range [phi_3_4_min,phi_3_4_max] +(1,0,0) +(1,0,0)
256 
257 
258 % finger 4
259  revolute: palm (q40x,q40y,q40z)+(0,0,-1)
260  p40 (0,0,0)+(-1,0,0)
261  range [phi_4_0_min,phi_4_0_max] +(0,-1,0) +(0,0,1)
262 
263  universal: p40 (q41x_0,q41y_0,q41z_0) +(0.573580,0,0.81915)
264  p42 (0,0,0)+(0,-1,0)
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)
267 
268  revolute: p42 (q43x_2,q43y_2,q43z_2)+(0,-1,0)
269  p43 (0,0,0)+(0,-1,0)
270  range [phi_4_3_min,phi_4_3_max] +(1,0,0) +(1,0,0)
271 
272  revolute: p43 (q44x_3,q44y_3,q44z_3)+(0,-1,0)
273  p44 (0,0,0)+(0,-1,0)
274  range [phi_4_4_min,phi_4_4_max] +(1,0,0) +(1,0,0)
275 
276 % contact joints (after the hand joints)
277 
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)
281 
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)
285 
286 [COLLISIONS]
287 
288  Do Not Check : all
289  Check: p24,can2
290  Check: p35,can2
291  Check: p45,can2
292 
293  /*
294  Check: all
295 
296  Do not Check: palm,p22
297  Do not Check: p22,p23
298  Do not Check: p23,p24
299  Do not Check: p24,can2
300 
301  Do not Check: palm,p32
302  Do not Check: p32,p33
303  Do not Check: p33,p34
304  Do not Check: p34,p35
305  Do not Check: p34,can2
306  Do not Check: p35,can2
307 
308  Do not Check: palm,p40
309  Do not Check: p40,p42
310  Do not Check: p42,p43
311  Do not Check: p43,p44
312  Do not Check: p44,p45
313  Do not Check: p44,can2
314  Do not Check: p45,can2
315  */
316