RSShand_can.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 q13x_2 := 67.8
31 q13y_2 := 0
32 q13z_2 := 0
33 
34 q14x_3 := 30
35 q14y_3 := 0
36 q14z_3 := 0
37 
38 
39 q23x_2 := 67.8
40 q23y_2 := 0
41 q23z_2 := 0
42 
43 q24x_3 := 30
44 q24y_3 := 0
45 q24z_3 := 0
46 
47 
48 q33x_2 := 67.8
49 q33y_2 := 0
50 q33z_2 := 0
51 
52 q34x_3 := 30
53 q34y_3 := 0
54 q34z_3 := 0
55 
56 
57 q43x_2 := 67.8
58 q43y_2 := 0
59 q43z_2 := 0
60 
61 q44x_3 := 30
62 q44y_3 := 0
63 q44z_3 := 0
64 
65 % Joint ranges
66 
67 % We can symmetrically enlarge the ranges for the joints so that
68 % the hand can better manipulate objects without regrasping.
69 % Set to zero to use the original ranges
70 enlarge_range := 20*pi/180
71 
72 
73 % Two ranges for the universal joint connecting the palm and finger 2
74 % -pi/16
75 phi_2_1_min:= -pi/8 -enlarge_range
76 phi_2_1_max:= pi/8 +enlarge_range
77 
78 % 1.35*pi/16
79 phi_2_2_min:= 0 -enlarge_range
80 phi_2_2_max:= pi/2 +enlarge_range
81 
82 % Range for the first rotation in finger 2
83 % pi/8
84 phi_2_3_min:= 0 -enlarge_range
85 phi_2_3_max:= pi/2 +enlarge_range
86 
87 % Range for the second rotation in finger 2
88 % pi/8
89 phi_2_4_min:= 0 -enlarge_range
90 phi_2_4_max:= pi/2 +enlarge_range
91 
92 % Two ranges for the universal joint connecting the palm and finger 3
93 % -pi/16
94 phi_3_1_min:= -pi/8 -enlarge_range
95 phi_3_1_max:= pi/8 +enlarge_range
96 
97 % 1.2*pi/16
98 phi_3_2_min:= 0 -enlarge_range
99 phi_3_2_max:= pi/2 +enlarge_range
100 
101 % Range for the first rotation in finger 3
102 % pi/8
103 phi_3_3_min:= 0 -enlarge_range
104 phi_3_3_max:= pi/2 +enlarge_range
105 
106 % Range for the second rotation in finger 3
107 % pi/8
108 phi_3_4_min:= 0 -enlarge_range
109 phi_3_4_max:= pi/2 +enlarge_range
110 
111 % Two ranges for the universal joint connecting the palm and finger 4
112 % pi/2
113 phi_4_0_min:= 0 -enlarge_range
114 phi_4_0_max:= pi/2 +enlarge_range
115 
116 % 0
117 phi_4_1_min:= -pi/8 -enlarge_range
118 phi_4_1_max:= pi/8 +enlarge_range
119 
120 % 0
121 phi_4_2_min:= 0 -enlarge_range
122 phi_4_2_max:= pi/2 +enlarge_range
123 
124 % Range for the first rotation in finger 4
125 % 3*pi/16
126 phi_4_3_min:= 0 -enlarge_range
127 phi_4_3_max:= pi/2 +enlarge_range
128 
129 % Range for the second rotation in finger 4
130 % 3*pi/16
131 phi_4_4_min:= 0 -enlarge_range
132 phi_4_4_max:= pi/2 +enlarge_range
133 
134 
135 %-------------------------------------------------------------------
136 %--------------------------------------------------------------------
137 
138 [LINKS]
139 
140 % palm
141  palm:body "bodies/palmSAH.off" white
142  body "bodies/acs1palm.off" blue
143  body "bodies/acs2palm.off" blue
144  body "bodies/acs3palm.off"
145 
146  // finger 1 fixed to the palm
147  body "bodies/p1_fix.off" white
148  body "bodies/p2_fix.off" white
149  body "bodies/b2_fix.off" blue
150  body "bodies/p3_fix.off" white
151  body "bodies/p4_fix.off" white
152  body "bodies/b4_fix.off" blue
153 
154 % finger 2
155  p22: body "bodies/p1.off" white
156  body "bodies/p2.off" white
157  body "bodies/b2.off" blue
158 
159  p23: body "bodies/p3.off" white
160 
161  p24: body "bodies/p4.off" white
162  body "bodies/b4.off" blue
163 
164 % finger 3
165  p32: body "bodies/p1.off" white
166  body "bodies/p2.off" white
167  body "bodies/b2.off" blue
168 
169  p33: body "bodies/p3.off" white
170 
171  p34: body "bodies/p4.off" white
172  body "bodies/b4.off" blue
173 
174 % finger 4
175  p40: body "bodies/p0thumb.off" white
176 
177  p42: body "bodies/p1.off" white
178  body "bodies/p2.off" white
179  body "bodies/b2.off" blue
180 
181  p43: body "bodies/p3.off" white
182 
183  p44: body "bodies/p4.off" white
184  body "bodies/b4.off" blue
185 
186 %object
187  can - body "bodies/can.off" red
188  % sphere 1 (22.5,27,0) green
189  % sphere 1 (22.5,-37,0) green
190 
191 
192 [JOINTS]
193 
194 % finger 2
195  universal: palm (q21x,q21y,q21z)+(1,0,0)
196  p22 (0,0,0)+(0,-1,0)
197  range [phi_2_1_min,phi_2_1_max] +(0,1,0)
198  [phi_2_2_min,phi_2_2_max] +(0,0,1)
199 
200  revolute: p22 (q23x_2,q23y_2,q23z_2)+(0,-1,0)
201  p23 (0,0,0)+(0,-1,0)
202  range [phi_2_3_min,phi_2_3_max] +(1,0,0) +(1,0,0)
203 
204  revolute: p23 (q24x_3,q24y_3,q24z_3)+(0,-1,0)
205  p24 (0,0,0)+(0,-1,0)
206  range [phi_2_4_min,phi_2_4_max] +(1,0,0) +(1,0,0)
207 
208 
209 % finger 3
210  universal: palm (q31x,q31y,q31z)+(1,0,0)
211  p32 (0,0,0)+(0,-1,0)
212  range [phi_3_1_min,phi_3_1_max] +(0,0.99937,0.035485)
213  [phi_3_2_min,phi_3_2_max] +(0,0,1)
214 
215  revolute: p32 (q33x_2,q33y_2,q33z_2)+(0,-1,0)
216  p33 (0,0,0)+(0,-1,0)
217  range [phi_3_3_min,phi_3_3_max] +(1,0,0) +(1,0,0)
218 
219  revolute: p33 (q34x_3,q34y_3,q34z_3)+(0,-1,0)
220  p34 (0,0,0)+(0,-1,0)
221  range [phi_3_4_min,phi_3_4_max] +(1,0,0) +(1,0,0)
222 
223 
224 % finger 4
225  revolute: palm (q40x,q40y,q40z)+(0,0,-1)
226  p40 (0,0,0)+(-1,0,0)
227  range [phi_4_0_min,phi_4_0_max] +(0,-1,0) +(0,0,1)
228 
229  universal: p40 (q41x_0,q41y_0,q41z_0) +(0.573580,0,0.81915)
230  p42 (0,0,0)+(0,-1,0)
231  range [phi_4_1_min,phi_4_1_max] +(0,-1,0)
232  [phi_4_2_min,phi_4_2_max] +(0,0,1)
233 
234  revolute: p42 (q43x_2,q43y_2,q43z_2)+(0,-1,0)
235  p43 (0,0,0)+(0,-1,0)
236  range [phi_4_3_min,phi_4_3_max] +(1,0,0) +(1,0,0)
237 
238  revolute: p43 (q44x_3,q44y_3,q44z_3)+(0,-1,0)
239  p44 (0,0,0)+(0,-1,0)
240  range [phi_4_4_min,phi_4_4_max] +(1,0,0) +(1,0,0)
241 
242 
243 [COLLISIONS]
244 
245  Do Not Check : all
246  Check: p24,can
247  Check: p34,can
248  Check: p44,can
249 
250  /*
251  Check: all
252 
253  Do not Check: palm,p22
254  Do not Check: p22,p23
255  Do not Check: p23,p24
256  Do not Check: p24,can
257 
258  Do not Check: palm,p32
259  Do not Check: p32,p33
260  Do not Check: p33,p34
261  Do not Check: p34,can
262 
263  Do not Check: palm,p40
264  Do not Check: p40,p42
265  Do not Check: p42,p43
266  Do not Check: p43,p44
267  Do not Check: p44,can
268  */
269