RSShand_tornavis2.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 q45x_4 := 27
66 q45y_4 := 0
67 q45z_4 :=-12.5
68 
69 % Joint ranges
70 
71 % We can symmetrically enlarge the ranges for the joints so that
72 % the hand can better manipulate objects without regrasping.
73 % Set to zero to use the original ranges
74 enlarge_range := 20*pi/180
75 
76 
77 % Two ranges for the universal joint connecting the palm and finger 2
78 % -pi/16
79 phi_2_1_min:= -pi/8 -enlarge_range
80 phi_2_1_max:= pi/8 +enlarge_range
81 
82 % 1.35*pi/16
83 phi_2_2_min:= 0 -enlarge_range
84 phi_2_2_max:= pi/2 +enlarge_range
85 
86 % Range for the first rotation in finger 2
87 % pi/8
88 phi_2_3_min:= 0 -enlarge_range
89 phi_2_3_max:= pi/2 +enlarge_range
90 
91 % Range for the second rotation in finger 2
92 % pi/8
93 phi_2_4_min:= 0 -enlarge_range
94 phi_2_4_max:= pi/2 +enlarge_range
95 
96 % Two ranges for the universal joint connecting the palm and finger 3
97 % -pi/16
98 phi_3_1_min:= -pi/8 -enlarge_range
99 phi_3_1_max:= pi/8 +enlarge_range
100 
101 % 1.2*pi/16
102 phi_3_2_min:= 0 -enlarge_range
103 phi_3_2_max:= pi/2 +enlarge_range
104 
105 % Range for the first rotation in finger 3
106 % pi/8
107 phi_3_3_min:= 0 -enlarge_range
108 phi_3_3_max:= pi/2 +enlarge_range
109 
110 % Range for the second rotation in finger 3
111 % pi/8
112 phi_3_4_min:= 0 -enlarge_range
113 phi_3_4_max:= pi/2 +enlarge_range
114 
115 % Two ranges for the universal joint connecting the palm and finger 4
116 % pi/2
117 phi_4_0_min:= 0 -enlarge_range
118 phi_4_0_max:= pi/2 +enlarge_range
119 
120 % 0
121 phi_4_1_min:= -pi/8 -enlarge_range
122 phi_4_1_max:= pi/8 +enlarge_range
123 
124 % 0
125 phi_4_2_min:= 0 -enlarge_range
126 phi_4_2_max:= pi/2 +enlarge_range
127 
128 % Range for the first rotation in finger 4
129 % 3*pi/16
130 phi_4_3_min:= 0 -enlarge_range
131 phi_4_3_max:= pi/2 +enlarge_range
132 
133 % Range for the second rotation in finger 4
134 % 3*pi/16
135 phi_4_4_min:= 0 -enlarge_range
136 phi_4_4_max:= pi/2 +enlarge_range
137 
138 %-------------------------------------------------------------------
139 %--------------------------------------------------------------------
140 
141 [LINKS]
142 
143 % palm
144  palm:body "bodies/palmSAH.off" white
145  body "bodies/acs1palm.off" blue
146  body "bodies/acs2palm.off" blue
147  body "bodies/acs3palm.off"
148 
149  // finger 1 fixed to the palm
150  body "bodies/p1_fix.off" white
151  body "bodies/p2_fix.off" white
152  body "bodies/b2_fix.off" blue
153  body "bodies/p3_fix.off" white
154  body "bodies/p4_fix.off" white
155  body "bodies/b4_fix.off" blue
156 
157 % finger 2
158  p22: body "bodies/p1.off" white
159  body "bodies/p2.off" white
160  body "bodies/b2.off" blue
161 
162  p23: body "bodies/p3.off" white
163 
164  p24: body "bodies/p4.off" white
165  body "bodies/b4.off" blue
166 
167 % finger 3
168  p32: body "bodies/p1.off" white
169  body "bodies/p2.off" white
170  body "bodies/b2.off" blue
171 
172  p33: body "bodies/p3.off" white
173 
174  p34: body "bodies/p4.off" white
175  body "bodies/b4.off" blue
176 
177 % finger 4
178  p40: body "bodies/p0thumb.off" white
179 
180  p42: body "bodies/p1.off" white
181  body "bodies/p2.off" white
182  body "bodies/b2.off" blue
183 
184  p43: body "bodies/p3.off" white
185 
186  p44: body "bodies/p4.off" white
187  body "bodies/b4.off" blue
188 
189 %object
190  tornavis2 > body "bodies/tornavis.off" white
191 
192 % contact links
193  p25: sphere 0.5 (0,0,0) green
194 
195 [JOINTS]
196 
197 % finger 2
198  universal: palm (q21x,q21y,q21z)+(1,0,0)
199  p22 (0,0,0)+(0,-1,0)
200  range [phi_2_1_min,phi_2_1_max] +(0,1,0)
201  [phi_2_2_min,phi_2_2_max] +(0,0,1)
202 
203  revolute: p22 (q23x_2,q23y_2,q23z_2)+(0,-1,0)
204  p23 (0,0,0)+(0,-1,0)
205  range [phi_2_3_min,phi_2_3_max] +(1,0,0) +(1,0,0)
206 
207  revolute: p23 (q24x_3,q24y_3,q24z_3)+(0,-1,0)
208  p24 (0,0,0)+(0,-1,0)
209  range [phi_2_4_min,phi_2_4_max] +(1,0,0) +(1,0,0)
210 
211 % finger 3
212  universal: palm (q31x,q31y,q31z)+(1,0,0)
213  p32 (0,0,0)+(0,-1,0)
214  range [phi_3_1_min,phi_3_1_max] +(0,0.99937,0.035485)
215  [phi_3_2_min,phi_3_2_max] +(0,0,1)
216 
217  revolute: p32 (q33x_2,q33y_2,q33z_2)+(0,-1,0)
218  p33 (0,0,0)+(0,-1,0)
219  range [phi_3_3_min,phi_3_3_max] +(1,0,0) +(1,0,0)
220 
221  revolute: p33 (q34x_3,q34y_3,q34z_3)+(0,-1,0)
222  p34 (0,0,0)+(0,-1,0)
223  range [phi_3_4_min,phi_3_4_max] +(1,0,0) +(1,0,0)
224 
225 % finger 4
226  revolute: palm (q40x,q40y,q40z)+(0,0,-1)
227  p40 (0,0,0)+(-1,0,0)
228  range [phi_4_0_min,phi_4_0_max] +(0,-1,0) +(0,0,1)
229 
230  universal: p40 (q41x_0,q41y_0,q41z_0) +(0.573580,0,0.81915)
231  p42 (0,0,0)+(0,-1,0)
232  range [phi_4_1_min,phi_4_1_max] +(0,-1,0)
233  [phi_4_2_min,phi_4_2_max] +(0,0,1)
234 
235  revolute: p42 (q43x_2,q43y_2,q43z_2)+(0,-1,0)
236  p43 (0,0,0)+(0,-1,0)
237  range [phi_4_3_min,phi_4_3_max] +(1,0,0) +(1,0,0)
238 
239  revolute: p43 (q44x_3,q44y_3,q44z_3)+(0,-1,0)
240  p44 (0,0,0)+(0,-1,0)
241  range [phi_4_4_min,phi_4_4_max] +(1,0,0) +(1,0,0)
242 
243 % contact joints (after the hand joints)
244 
245  prismatic: p24 (0,-14.5,0)+(0.998752338877845,0.049937616943892,0)
246  p25 (0,0,0)+(1,0,0)
247  range [0,25]
248 
249 [COLLISIONS]
250 
251  Do Not Check : all
252  Check: p34,tornavis2
253  Check: p44,tornavis2
254  Check: p25,tornavis2
255 
256  /*
257  Check: all
258 
259  Do not Check: palm,p22
260  Do not Check: p22,p23
261  Do not Check: p23,p24
262  Do not Check: p24,p25
263  Do not Check: p24,tornavis2
264  Do not Check: p25,tornavis2
265 
266  Do not Check: palm,p32
267  Do not Check: p32,p33
268  Do not Check: p33,p34
269  Do not Check: p34,tornavis2
270 
271  Do not Check: palm,p40
272  Do not Check: p40,p42
273  Do not Check: p42,p43
274  Do not Check: p43,p44
275  Do not Check: p44,tornavis2
276  */
277 
278