12 % qji_k is a vector expreseing the anchor point of reference
13 % frame i with respect to reference frame k of finger j.
14 %
if k is not given, it means it is respect to the palm,
15 % which in our
case, it is the absoulute one.
42 % These anchor points can be seen as the length of the phalanges,
43 % but that is because the phalanges are aligned with
this vectors.
80 % Hand-
object contact points (plus normals)
81 % The points are numbered as 1,2,3 and
82 % those in the
object must contact the corresponding
84 % The contact points in the hand are at the end of
86 % All contact points are given in local coordinates of
87 % the corresponding bodies.
114 hp1_x:=26.745362130452246
115 hp1_y:=-0.320775916066435
116 hp1_z:=13.600172216189954
119 hp2_x:=27.186824561219627
120 hp2_y:= 0.988403453869847
121 hp2_z:=14.015803798995954
124 hp3_x:=38.177015391947400
125 hp3_y:= 1.899999999999999
126 hp3_z:= 6.216744353301863
128 hn1_x:=-0.269074918627895
129 hn1_y:= 0.137944652813314
130 hn1_z:=-0.953189362574723
132 hn2_x:=-0.237373330082984
133 hn2_y:= 0.113242205988468
134 hn2_z:=-0.964795369468667
136 hn3_x:=-0.975994458224612
138 hn3_z:=-0.217795356963474
141 % Two ranges for the universal joint connecting the palm and finger 1
148 % Range for the first rotation in finger 1
152 % Range for the second rotation in finger 1
156 % Two ranges for the universal joint connecting the palm and finger 2
165 % Range for the first rotation in finger 2
170 % Range for the second rotation in finger 2
175 % Two ranges for the universal joint connecting the palm and finger 3
184 % Range for the first rotation in finger 3
189 % Range for the second rotation in finger 3
194 % Two ranges for the universal joint connecting the palm and finger 4
207 % Range for the first rotation in finger 4
212 % Range for the second rotation in finger 4
218 %-------------------------------------------------------------------
219 %--------------------------------------------------------------------
224 palm:body "bodies/palmSAH.off" white
225 body "bodies/acs1palm.off" blue
226 body "bodies/acs2palm.off" blue
227 body "bodies/acs3palm.off"
230 body "bodies/p1_fix.off" white
231 body "bodies/p2_fix.off" white
232 body "bodies/b2_fix.off" blue
233 body "bodies/p3_fix.off" white
234 body "bodies/p4_fix.off" white
235 body "bodies/b4_fix.off" blue
250 p22: body "bodies/p1.off" white
251 body "bodies/p2.off" white
252 body "bodies/b2.off" blue
254 p23: body "bodies/p3.off" white
256 p24: body "bodies/p4.off" white
257 body "bodies/b4.off" blue
260 p32: body "bodies/p1.off" white
261 body "bodies/p2.off" white
262 body "bodies/b2.off" blue
264 p33: body "bodies/p3.off" white
266 p34: body "bodies/p4.off" white
267 body "bodies/b4.off" blue
270 p40: body "bodies/p0thumb.off" white
272 p42: body "bodies/p1.off" white
273 body "bodies/p2.off" white
274 body "bodies/b2.off" blue
276 p43: body "bodies/p3.off" white
278 p44: body "bodies/p4.off" white
279 body "bodies/b4.off" blue
282 object: body "bodies/needle.off" green
283 sphere 1 (625,-3,6) red
300 universal: palm (q21x,q21y,q21z)+(1,0,0)
303 revolute: p22 (q23x_2,q23y_2,q23z_2)+(0,-1,0)
306 revolute: p23 (q24x_3,q24y_3,q24z_3)+(0,-1,0)
311 universal: palm (q31x,q31y,q31z)+(1,0,0)
314 revolute: p32 (q33x_2,q33y_2,q33z_2)+(0,-1,0)
317 revolute: p33 (q34x_3,q34y_3,q34z_3)+(0,-1,0)
322 revolute: palm (q40x,q40y,q40z)+(0,0,-1)
325 universal: p40 (q41x_0,q41y_0,q41z_0)+(0.573580,0,0.81915)
328 revolute: p42 (q43x_2,q43y_2,q43z_2)+(0,-1,0)
331 revolute: p43 (q44x_3,q44y_3,q44z_3)+(0,-1,0)
335 % Now we define the hand-
object connection via revolute joints
336 revolute: p24 (hp1_x,hp1_y,hp1_z)+(hn1_x,hn1_y,hn1_z)
337 object (op1_x,op1_y,op1_z)+(on1_x,on1_y,on1_z)
339 revolute: p34 (hp2_x,hp2_y,hp2_z)+(hn2_x,hn2_y,hn2_z)
340 object (op2_x,op2_y,op2_z)+(on2_x,on2_y,on2_z)
342 revolute: p44 (hp3_x,hp3_y,hp3_z)+(hn3_x,hn3_y,hn3_z)
343 object (op3_x,op3_y,op3_z)+(on3_x,on3_y,on3_z)
346 % This the fix transformation to the
object used to defined the grasping
347 % fix: palm
object Tx(25) * Ry(-pi/4) *Tz(120)* Tx(180) * Ty(35)
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