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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.
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
73 % Two ranges for the universal joint connecting the palm and finger 2
75 phi_2_1_min:= -pi/8 -enlarge_range
76 phi_2_1_max:= pi/8 +enlarge_range
79 phi_2_2_min:= 0 -enlarge_range
80 phi_2_2_max:= pi/2 +enlarge_range
82 % Range for the first rotation in finger 2
84 phi_2_3_min:= 0 -enlarge_range
85 phi_2_3_max:= pi/2 +enlarge_range
87 % Range for the second rotation in finger 2
89 phi_2_4_min:= 0 -enlarge_range
90 phi_2_4_max:= pi/2 +enlarge_range
92 % Two ranges for the universal joint connecting the palm and finger 3
94 phi_3_1_min:= -pi/8 -enlarge_range
95 phi_3_1_max:= pi/8 +enlarge_range
98 phi_3_2_min:= 0 -enlarge_range
99 phi_3_2_max:= pi/2 +enlarge_range
101 % Range for the first rotation in finger 3
103 phi_3_3_min:= 0 -enlarge_range
104 phi_3_3_max:= pi/2 +enlarge_range
106 % Range for the second rotation in finger 3
108 phi_3_4_min:= 0 -enlarge_range
109 phi_3_4_max:= pi/2 +enlarge_range
111 % Two ranges for the universal joint connecting the palm and finger 4
113 phi_4_0_min:= 0 -enlarge_range
114 phi_4_0_max:= pi/2 +enlarge_range
117 phi_4_1_min:= -pi/8 -enlarge_range
118 phi_4_1_max:= pi/8 +enlarge_range
121 phi_4_2_min:= 0 -enlarge_range
122 phi_4_2_max:= pi/2 +enlarge_range
124 % Range for the first rotation in finger 4
126 phi_4_3_min:= 0 -enlarge_range
127 phi_4_3_max:= pi/2 +enlarge_range
129 % Range for the second rotation in finger 4
131 phi_4_4_min:= 0 -enlarge_range
132 phi_4_4_max:= pi/2 +enlarge_range
135 %-------------------------------------------------------------------
136 %--------------------------------------------------------------------
141 palm:body "bodies/palmSAH.off" white
142 body "bodies/acs1palm.off" blue
143 body "bodies/acs2palm.off" blue
144 body "bodies/acs3palm.off"
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
155 p22: body "bodies/p1.off" white
156 body "bodies/p2.off" white
157 body "bodies/b2.off" blue
159 p23: body "bodies/p3.off" white
161 p24: body "bodies/p4.off" white
162 body "bodies/b4.off" blue
165 p32: body "bodies/p1.off" white
166 body "bodies/p2.off" white
167 body "bodies/b2.off" blue
169 p33: body "bodies/p3.off" white
171 p34: body "bodies/p4.off" white
172 body "bodies/b4.off" blue
175 p40: body "bodies/p0thumb.off" white
177 p42: body "bodies/p1.off" white
178 body "bodies/p2.off" white
179 body "bodies/b2.off" blue
181 p43: body "bodies/p3.off" white
183 p44: body "bodies/p4.off" white
184 body "bodies/b4.off" blue
187 can - body "bodies/can.off" red
188 % sphere 1 (22.5,27,0) green
189 % sphere 1 (22.5,-37,0) green
195 universal: palm (q21x,q21y,q21z)+(1,0,0)
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)
200 revolute: p22 (q23x_2,q23y_2,q23z_2)+(0,-1,0)
202 range [phi_2_3_min,phi_2_3_max] +(1,0,0) +(1,0,0)
204 revolute: p23 (q24x_3,q24y_3,q24z_3)+(0,-1,0)
206 range [phi_2_4_min,phi_2_4_max] +(1,0,0) +(1,0,0)
210 universal: palm (q31x,q31y,q31z)+(1,0,0)
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)
215 revolute: p32 (q33x_2,q33y_2,q33z_2)+(0,-1,0)
217 range [phi_3_3_min,phi_3_3_max] +(1,0,0) +(1,0,0)
219 revolute: p33 (q34x_3,q34y_3,q34z_3)+(0,-1,0)
221 range [phi_3_4_min,phi_3_4_max] +(1,0,0) +(1,0,0)
225 revolute: palm (q40x,q40y,q40z)+(0,0,-1)
227 range [phi_4_0_min,phi_4_0_max] +(0,-1,0) +(0,0,1)
229 universal: p40 (q41x_0,q41y_0,q41z_0) +(0.573580,0,0.81915)
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)
234 revolute: p42 (q43x_2,q43y_2,q43z_2)+(0,-1,0)
236 range [phi_4_3_min,phi_4_3_max] +(1,0,0) +(1,0,0)
238 revolute: p43 (q44x_3,q44y_3,q44z_3)+(0,-1,0)
240 range [phi_4_4_min,phi_4_4_max] +(1,0,0) +(1,0,0)
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