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Hand dev controller #170

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Hand dev controller #170

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1d5337e
change the middle finger preset angle
sunjiekcl Feb 1, 2018
fee5007
Merge branch 'temp' into hand_dev_controller
sunjiekcl Feb 1, 2018
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9 changes: 5 additions & 4 deletions kclhand_control/scripts/kclhand_forward_kinematics.py
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Original file line number Diff line number Diff line change
@@ -1,3 +1,4 @@
#!/usr/bin/env python
__author__ = 'jiesun'
#Date: 11 Oct. 2015
#Email: [email protected]
Expand Down Expand Up @@ -130,7 +131,7 @@ class HandFK (Palm):
deltaMiddle = m.radians(60) # for middle finger
deltaSide = m.radians(20) # for side finger

upperFingerPreBending = m.pi/4
upperFingerPreBending = m.pi/4.
fingerRadio = 3.0/7.0


Expand All @@ -144,9 +145,9 @@ def __init__(self, palmJointA = -30, palmJointE = -60 , leftFingerLower = 0, mid
#self.middleFingerUpper = self.middleFingerLower * self.fingerRadio - m.pi/12
#self.leftFingerUpper = self.leftFingerLower * self.fingerRadio - m.pi/6
#self.rightFingerUpper = self.rightFingerLower * self.fingerRadio + m.pi/6
self.middleFingerUpper = self.middleFingerLower * self.fingerRadio + m.radians(90 * 3/7) - m.pi/4
self.leftFingerUpper = self.leftFingerLower * self.fingerRadio + m.radians(90 * 3/7) - m.pi/4
self.rightFingerUpper = self.rightFingerLower * self.fingerRadio + m.radians(90 * 3/7) - m.pi/4
self.middleFingerUpper = self.middleFingerLower * self.fingerRadio + m.radians(90. * 3/7) - m.pi/16
self.leftFingerUpper = self.leftFingerLower * self.fingerRadio + m.radians(90. * 3/7) - m.pi/4
self.rightFingerUpper = self.rightFingerLower * self.fingerRadio + m.radians(90. * 3/7) - m.pi/4

def middleFinger(self):
self.middleR1 = self.rotation_y(self.deltaMiddle)
Expand Down