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4 % Radius of the spheres representing contact points
7 % radius of the sphere modeling the fingertip
10 % radius of the sphere, the object itself
13 % qji_k is a vector expreseing the anchor point of reference 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, which in our case, it is the absoulute one.
41 % These anchor points can be seen as the length of the phalanges,
42 % but that is because the phalanges are aligned with this vectors.
79 % Fingertip point vectors, qj5_4, and fingertip normal vector, mj_4
109 % Palm contact points vectors, and normal vector.
111 qpx := 7.312-0.707*rho
112 qpy := 58.686-0.707*rho
122 % Two ranges for the universal joint connecting the palm and finger 1
129 % Range for the first rotation in finger 1
133 % Range for the second rotation in finger 1
137 % Range for contact point in finger 1
140 % Two ranges for the universal joint connecting the palm and finger 2
147 % Range for the first rotation in finger 2
151 % Range for the second rotation in finger 2
155 % Range for contact point in finger 2
158 % Two ranges for the universal joint connecting the palm and finger 3
165 % Range for the first rotation in finger 3
169 % Range for the second rotation in finger 3
173 % Range for contact point in finger 3
176 % Two ranges for the universal joint connecting the palm and finger 4
186 % Range for the first rotation in finger 4
190 % Range for the second rotation in finger 4
194 % Range for contact point in finger 4
200 %control points of the patches
241 b4_11_y_o := -12.2260
260 %-------------------------------------------------------------------
262 %--------------------------------------------------------------------
268 palm: body "bodies/palmSAH.off" white
269 body "bodies/acs1palm.off" blue
270 body "bodies/acs2palm.off" blue
271 body "bodies/acs3palm.off"
274 p12: body "bodies/p1.off" white
275 body "bodies/p2.off" white
276 body "bodies/b2.off" blue
278 p13: body "bodies/p3.off" white
280 p14: body "bodies/p4.off" white
281 body "bodies/b4.off" blue
284 p22: body "bodies/p1.off" white
285 body "bodies/p2.off" white
286 body "bodies/b2.off" blue
288 p23: body "bodies/p3.off" white
290 p24: body "bodies/p4.off" white
291 body "bodies/b4.off" blue
294 p32: body "bodies/p1.off" white
295 body "bodies/p2.off" white
296 body "bodies/b2.off" blue
298 p33: body "bodies/p3.off" white
300 p34: body "bodies/p4.off" white
301 body "bodies/b4.off" blue
304 p40: body "bodies/p0thumb.off" white
306 p42: body "bodies/p1.off" white
307 body "bodies/p2.off" white
308 body "bodies/b2.off" blue
310 p43: body "bodies/p3.off" white
312 p44: body "bodies/p4.off" white
313 body "bodies/b4.off" blue
315 object: body "bodies/scalpel.off" white
316 %cyan sphere RS (0,0,0)
318 X_P: green sphere rc (0,0,0)
320 % X_1: green sphere rc (0,0,0)
322 X_2: green sphere rc (0,0,0)
324 % X_3: green sphere rc (0,0,0)
326 X_4: green sphere rc (0,0,0)
333 universal: palm (q11x,q11y,q11z)+(1,0,0)
335 range [phi_1_1_min,phi_1_1_max] +(0,-0.99941,0.034301)
336 [phi_1_2_min,phi_1_2_max] +(0,0,1)
339 revolute: p12 (q13x_2,q13y_2,q13z_2)+(0,-1,0)
341 range [phi_1_3_min,phi_1_3_max] +(1,0,0) +(1,0,0)
344 revolute: p13 (q14x_3,q14y_3,q14z_3)+(0,-1,0)
346 range [phi_1_4_min,phi_1_4_max] +(1,0,0) +(1,0,0)
350 universal: palm (q21x,q21y,q21z)+(1,0,0)
352 range [phi_2_1_min,phi_2_1_max] +(0,-1,0)
353 [phi_2_2_min,phi_2_2_max] +(0, 0,1)
356 revolute: p22 (q23x_2,q23y_2,q23z_2)+(0,-1,0)
358 range [phi_2_3_min,phi_2_3_max] +(1,0,0) +(1,0,0)
361 revolute: p23 (q24x_3,q24y_3,q24z_3)+(0,-1,0)
363 range [phi_2_4_min,phi_2_4_max] +(1,0,0) +(1,0,0)
367 universal: palm (q31x,q31y,q31z)+(1,0,0)
369 range [phi_3_1_min,phi_3_1_max] +(0,-0.99937,-0.035485)
370 [phi_3_2_min,phi_3_2_max] +(0, 0,1)
373 revolute: p32 (q33x_2,q33y_2,q33z_2)+(0,-1,0)
375 range [phi_3_3_min,phi_3_3_max] +(1,0,0) +(1,0,0)
378 revolute: p33 (q34x_3,q34y_3,q34z_3)+(0,-1,0)
380 range [phi_3_4_min,phi_3_4_max] +(1,0,0) +(1,0,0)
384 revolute: palm (q40x,q40y,q40z)+(0,0,-1)
386 range [phi_4_0_min,phi_4_0_max] +(0,-1,0) +(0,0,1)
389 universal: p40 (q41x_0,q41y_0,q41z_0)+(0.573580,0,0.81915)
391 range [phi_4_1_min,phi_4_1_max] +(0,1,0)
392 [phi_4_2_min,phi_4_2_max] +(0,0,1)
395 revolute: p42 (q43x_2,q43y_2,q43z_2)+(0,-1,0)
397 range [phi_4_3_min,phi_4_3_max] +(1,0,0) +(1,0,0)
400 revolute: p43 (q44x_3,q44y_3,q44z_3)+(0,-1,0)
402 range [phi_4_4_min,phi_4_4_max] +(1,0,0) +(1,0,0)
405 % KINEMATIC OF THE OBJECT-FINGER CONTACT
408 SPHERICAL: p24 (q25x_4,q25y_4,q25z_4)
410 range [beta_2] +(m2x_4,m2y_4,m2z_4) +(0,0,1)
413 in_patch: X_2 (0,0,0) (0,0,1)
414 object (b2_00_x_o,b2_00_y_o,b2_00_z_o) (b2_01_x_o,b2_01_y_o,b2_01_z_o) (b2_10_x_o,b2_10_y_o,b2_10_z_o) (b2_11_x_o,b2_11_y_o,b2_11_z_o)
418 SPHERICAL: p44 (q45x_4,q45y_4,q45z_4)
420 range [beta_4] +(m4x_4,m4y_4,m4z_4) +(0,0,1)
423 in_patch: X_4 (0,0,0) (0,0,1)
424 object (b4_00_x_o,b4_00_y_o,b4_00_z_o) (b4_01_x_o,b4_01_y_o,b4_01_z_o) (b4_10_x_o,b4_10_y_o,b4_10_z_o) (b4_11_x_o,b4_11_y_o,b4_11_z_o)
427 SPHERICAL: palm (qpx,qpy,qpz)
429 range [beta_p] +(mpx,mpy,mpz) +(0,0,1)
432 in_patch: X_P (0,0,0) (0,0,1)
433 object (bp_00_x_o,bp_00_y_o,bp_00_z_o) (bp_01_x_o,bp_01_y_o,bp_01_z_o) (bp_10_x_o,bp_10_y_o,bp_10_z_o) (bp_11_x_o,bp_11_y_o,bp_11_z_o)
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