SAHandplusGuitar.world
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1 
2 [CONSTANTS]
3 
4 % Radius of the spheres representing contact points
5 rc:=0.1
6 
7 % radius of the sphere modeling the fingertip
8 rho:=13
9 
10 % radius of the sphere, the object itself
11 RS:=70
12 
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.
15 
16 q11x := -4.3
17 q11y := -40.165
18 q11z := 145.43
19 %q11 = q12
20 
21 q21x := -4.3
22 q21y := 0
23 q21z := 150.15
24 %q21 = q22
25 
26 q31x := -4.3
27 q31y := 40.165
28 q31z := 145.43
29 %q31 = q32
30 
31 q40x := -3
32 q40y := 27.1
33 q40z := 0
34 
35 q41x_0:= 97
36 q41y_0:= 6
37 q41z_0:=-87
38 %q41_0 = q42_0
39 
40 
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.
43 q13x_2 := 67.8
44 q13y_2 := 0
45 q13z_2 := 0
46 
47 q14x_3 := 30
48 q14y_3 := 0
49 q14z_3 := 0
50 
51 
52 q23x_2 := 67.8
53 q23y_2 := 0
54 q23z_2 := 0
55 
56 q24x_3 := 30
57 q24y_3 := 0
58 q24z_3 := 0
59 
60 
61 q33x_2 := 67.8
62 q33y_2 := 0
63 q33z_2 := 0
64 
65 q34x_3 := 30
66 q34y_3 := 0
67 q34z_3 := 0
68 
69 
70 q43x_2 := 67.8
71 q43y_2 := 0
72 q43z_2 := 0
73 
74 q44x_3 := 30
75 q44y_3 := 0
76 q44z_3 := 0
77 
78 
79 % Fingertip point vectors, qj5_4, and fingertip normal vector, mj_4
80 q15x_4 := 20
81 q15y_4 := 0
82 q15z_4 := 0
83 m1x_4 := 0.14
84 m1y_4 := 0
85 m1z_4 := 0.99
86 
87 q25x_4 := 20
88 q25y_4 := 0
89 q25z_4 := 0
90 m2x_4 := 0.14
91 m2y_4 := 0
92 m2z_4 := 0.99
93 
94 q35x_4 := 8.146
95 q35y_4 := -14.271+rho
96 q35z_4 := -0.335
97 m3x_4 := 0
98 m3y_4 := -1
99 m3z_4 := 0
100 
101 q45x_4 := 20
102 q45y_4 := 0
103 q45z_4 := 0
104 m4x_4 := 0.14
105 m4y_4 := 0
106 m4z_4 := 0.99
107 
108 
109 % Palm contact points vectors, and normal vector.
110 %point 1
111 qpx := 30.960
112 qpy := -31.393
113 qpz := 51.150
114 mpx := 0.9579
115 mpy := -0.0345
116 mpz := 0.2851
117 
118 beta_p := pi/3
119 
120 % Joint ranges
121 
122 % Two ranges for the universal joint connecting the palm and finger 1
123 phi_1_1_min:= 0
124 phi_1_1_max:= 0
125 
126 phi_1_2_min:= pi/10
127 phi_1_2_max:= pi/10
128 
129 % Range for the first rotation in finger 1
130 phi_1_3_min:= pi/2
131 phi_1_3_max:= pi/2
132 
133 % Range for the second rotation in finger 1
134 phi_1_4_min:= pi/2
135 phi_1_4_max:= pi/2
136 
137 % Range for contact point in finger 1
138 beta_1:= pi/2
139 
140 % Two ranges for the universal joint connecting the palm and finger 2
141 phi_2_1_min:= 0
142 phi_2_1_max:= 0
143 
144 phi_2_2_min:= pi/10
145 phi_2_2_max:= pi/10
146 
147 % Range for the first rotation in finger 2
148 phi_2_3_min:= pi/2
149 phi_2_3_max:= pi/2
150 
151 % Range for the second rotation in finger 2
152 phi_2_4_min:= pi/2
153 phi_2_4_max:= pi/2
154 
155 % Range for contact point in finger 2
156 beta_2:= pi/2
157 
158 % Two ranges for the universal joint connecting the palm and finger 3
159 phi_3_1_min:= -pi/8
160 phi_3_1_max:= pi/8
161 
162 phi_3_2_min:= 0
163 phi_3_2_max:= pi/2
164 
165 % Range for the first rotation in finger 3
166 phi_3_3_min:= 0
167 phi_3_3_max:= pi/2
168 
169 % Range for the second rotation in finger 3
170 phi_3_4_min:= 0
171 phi_3_4_max:= pi/2
172 
173 % Range for contact point in finger 3
174 beta_3:= pi/16
175 
176 % Two ranges for the universal joint connecting the palm and finger 4
177 phi_4_0_min:=0
178 phi_4_0_max:= pi/2
179 
180 phi_4_1_min:= -pi/8
181 phi_4_1_max:= pi/8
182 
183 phi_4_2_min:= 0
184 phi_4_2_max:= pi/2
185 
186 % Range for the first rotation in finger 4
187 phi_4_3_min:= 0
188 phi_4_3_max:= pi/2
189 
190 % Range for the second rotation in finger 4
191 phi_4_4_min:= 0
192 phi_4_4_max:= pi/2
193 
194 % Range for contact point in finger 4
195 beta_4:= pi/2 %l'unic que he canviat
196 
197 
198 
199 % BEZIER PATCHES FOR FINGERS!!
200 %Guitar
201 %control points and vectors of the patches
202 
203 %2 contacts, tuning
204 % thumb patch
205 b3_00_x_o := 1312.701
206 b3_00_y_o := 141.999
207 b3_00_z_o := 98.071
208 b3_01_x_o := 1343.237
209 b3_01_y_o := 141.999
210 b3_01_z_o := 93.651
211 b3_10_x_o := 1312.701
212 b3_10_y_o := 154.388
213 b3_10_z_o := 98.071
214 b3_11_x_o := 1343.237
215 b3_11_y_o := 154.388
216 b3_11_z_o := 93.651
217 
218 % index patch
219 b4_00_x_o := 1311.411
220 b4_00_y_o := 154.388
221 b4_00_z_o := 94.111
222 b4_01_x_o := 1341.948
223 b4_01_y_o := 154.388
224 b4_01_z_o := 89.691
225 b4_10_x_o := 1311.411
226 b4_10_y_o := 141.999
227 b4_10_z_o := 94.111
228 b4_11_x_o := 1341.948
229 b4_11_y_o := 141.999
230 b4_11_z_o := 89.691
231 
232 
233 
234 
235 %-------------------------------------------------------------------
236 
237 %--------------------------------------------------------------------
238 
239 
240 [LINKS]
241 
242 % palm
243  palm: body "bodies/palmSAH.off" white
244  body "bodies/acs1palm.off" blue
245  body "bodies/acs2palm.off" blue
246  body "bodies/acs3palm.off"
247 
248 % finger 1
249  p12: body "bodies/p1.off" white
250  body "bodies/p2.off" white
251  body "bodies/b2.off" blue
252 
253  p13: body "bodies/p3.off" white
254 
255  p14: body "bodies/p4.off" white
256  body "bodies/b4.off" blue
257 
258 % finger 2
259  p22: body "bodies/p1.off" white
260  body "bodies/p2.off" white
261  body "bodies/b2.off" blue
262 
263  p23: body "bodies/p3.off" white
264 
265  p24: body "bodies/p4.off" white
266  body "bodies/b4.off" blue
267 
268 % finger 3
269  p32: body "bodies/p1.off" white
270  body "bodies/p2.off" white
271  body "bodies/b2.off" blue
272 
273  p33: body "bodies/p3.off" white
274 
275  p34: body "bodies/p4.off" white
276  body "bodies/b4.off" blue
277 
278 % finger 4
279  p40: body "bodies/p0thumb.off" white
280 
281  p42: body "bodies/p1.off" white
282  body "bodies/p2.off" white
283  body "bodies/b2.off" blue
284 
285  p43: body "bodies/p3.off" white
286 
287  p44: body "bodies/p4.off" white
288  body "bodies/b4.off" blue
289 
290  object: body "bodies/guitar_left.off"
291 %cyan sphere RS (0,0,0)
292 
293 % X_P: green sphere rc (0,0,0)
294 
295 % X_1: green sphere rc (0,0,0)
296 
297 % X_2: green sphere rc (0,0,0)
298 
299  X_3: green sphere rc (0,0,0)
300 
301  X_4: green sphere rc (0,0,0)
302 
303 
304 
305 [JOINTS]
306 
307 % finger 1
308  universal: palm (q11x,q11y,q11z)+(1,0,0)
309  p12 (0,0,0)+(0,1,0)
310  range [phi_1_1_min,phi_1_1_max] +(0,-0.99941,0.034301)
311  [phi_1_2_min,phi_1_2_max] +(0,0,1)
312  %avoid limits
313 
314  revolute: p12 (q13x_2,q13y_2,q13z_2)+(0,-1,0)
315  p13 (0,0,0)+(0,-1,0)
316  range [phi_1_3_min,phi_1_3_max] +(1,0,0) +(1,0,0)
317  %avoid limits
318 
319  revolute: p13 (q14x_3,q14y_3,q14z_3)+(0,-1,0)
320  p14 (0,0,0)+(0,-1,0)
321  range [phi_1_4_min,phi_1_4_max] +(1,0,0) +(1,0,0)
322  %avoid limits
323 
324 % finger 2
325  universal: palm (q21x,q21y,q21z)+(1,0,0)
326  p22 (0,0,0)+(0,1,0)
327  range [phi_2_1_min,phi_2_1_max] +(0,-1,0)
328  [phi_2_2_min,phi_2_2_max] +(0, 0,1)
329  %avoid limits
330 
331  revolute: p22 (q23x_2,q23y_2,q23z_2)+(0,-1,0)
332  p23 (0,0,0)+(0,-1,0)
333  range [phi_2_3_min,phi_2_3_max] +(1,0,0) +(1,0,0)
334  %avoid limits
335 
336  revolute: p23 (q24x_3,q24y_3,q24z_3)+(0,-1,0)
337  p24 (0,0,0)+(0,-1,0)
338  range [phi_2_4_min,phi_2_4_max] +(1,0,0) +(1,0,0)
339  %avoid limits
340 
341 % finger 3
342  universal: palm (q31x,q31y,q31z)+(1,0,0)
343  p32 (0,0,0)+(0,1,0)
344  range [phi_3_1_min,phi_3_1_max] +(0,-0.99937,-0.035485)
345  [phi_3_2_min,phi_3_2_max] +(0, 0,1)
346  avoid limits
347 
348  revolute: p32 (q33x_2,q33y_2,q33z_2)+(0,-1,0)
349  p33 (0,0,0)+(0,-1,0)
350  range [phi_3_3_min,phi_3_3_max] +(1,0,0) +(1,0,0)
351  avoid limits
352 
353  revolute: p33 (q34x_3,q34y_3,q34z_3)+(0,-1,0)
354  p34 (0,0,0)+(0,-1,0)
355  range [phi_3_4_min,phi_3_4_max] +(1,0,0) +(1,0,0)
356  avoid limits
357 
358 % finger 4
359  revolute: palm (q40x,q40y,q40z)+(0,0,-1)
360  p40 (0,0,0)+(-1,0,0)
361  range [phi_4_0_min,phi_4_0_max] +(0,-1,0) +(0,0,1)
362  avoid limits
363 
364  universal: p40 (q41x_0,q41y_0,q41z_0)+(0.573580,0,0.81915)
365  p42 (0,0,0)+(0,1,0)
366  range [phi_4_1_min,phi_4_1_max] +(0,1,0)
367  [phi_4_2_min,phi_4_2_max] +(0,0,1)
368  avoid limits
369 
370  revolute: p42 (q43x_2,q43y_2,q43z_2)+(0,-1,0)
371  p43 (0,0,0)+(0,-1,0)
372  range [phi_4_3_min,phi_4_3_max] +(1,0,0) +(1,0,0)
373  avoid limits
374 
375  revolute: p43 (q44x_3,q44y_3,q44z_3)+(0,-1,0)
376  p44 (0,0,0)+(0,-1,0)
377  range [phi_4_4_min,phi_4_4_max] +(1,0,0) +(1,0,0)
378  avoid limits
379 
380 % KINEMATIC OF THE OBJECT-FINGER CONTACT
381 
382 % SPHERICAL: p14 (q15x_4,q15y_4,q15z_4)
383 % X_1 (0,0,-rho)
384 % range [beta_1] +(m1x_4,m1y_4,m1z_4) +(0,0,1)
385 % avoid limits
386 
387 % in_patch: X_1 (0,0,0) (0,0,1)
388 % object (b1_00_x_o,b1_00_y_o,b1_00_z_o) (b1_01_x_o,b1_01_y_o,b1_01_z_o) (b1_10_x_o,b1_10_y_o,b1_10_z_o) (b1_11_x_o,b1_11_y_o,b1_11_z_o)
389 % avoid limits
390 
391 % SPHERICAL: p24 (q25x_4,q25y_4,q25z_4)
392 % X_2 (0,0,-rho)
393 % range [beta_2] +(m2x_4,m2y_4,m2z_4) +(0,0,1)
394 % avoid limits
395 
396 % in_patch: X_2 (0,0,0) (0,0,1)
397 % 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)
398 % avoid limits
399 
400  SPHERICAL: p34 (q35x_4,q35y_4,q35z_4)
401  X_3 (0,0,-rho)
402  range [beta_3] +(m3x_4,m3y_4,m3z_4) +(0,0,1)
403  avoid limits
404 
405  in_patch: X_3 (0,0,0) (0,0,1)
406  object (b3_00_x_o,b3_00_y_o,b3_00_z_o) (b3_01_x_o,b3_01_y_o,b3_01_z_o) (b3_10_x_o,b3_10_y_o,b3_10_z_o) (b3_11_x_o,b3_11_y_o,b3_11_z_o)
407  avoid limits
408 
409  SPHERICAL: p44 (q45x_4,q45y_4,q45z_4)
410  X_4 (0,0,-rho)
411  range [beta_4] +(m4x_4,m4y_4,m4z_4) +(0,0,1)
412  avoid limits
413 
414  in_patch: X_4 (0,0,0) (0,0,1)
415  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)
416  avoid limits
417 
418 % SPHERICAL: palm (qpx,qpy,qpz)
419 % X_P (0,0,-rho)
420 % range [beta_1] +(mpx,mpy,mpz) +(0,0,1)
421 % avoid limits
422 
423 % in_patch: X_P (0,0,0) (0,0,1)
424 % 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)
425 % avoid limits
426 
427