From 1d5337e792fe433cc01993d3258b0a7114c335b6 Mon Sep 17 00:00:00 2001 From: jie Date: Thu, 1 Feb 2018 05:24:22 -0500 Subject: [PATCH] change the middle finger preset angle --- kclhand_control/scripts/kclhand_forward_kinematics.py | 9 +++++---- 1 file changed, 5 insertions(+), 4 deletions(-) diff --git a/kclhand_control/scripts/kclhand_forward_kinematics.py b/kclhand_control/scripts/kclhand_forward_kinematics.py index 379b018..a4d55c8 100755 --- a/kclhand_control/scripts/kclhand_forward_kinematics.py +++ b/kclhand_control/scripts/kclhand_forward_kinematics.py @@ -1,3 +1,4 @@ +#!/usr/bin/env python __author__ = 'jiesun' #Date: 11 Oct. 2015 #Email: jie.sun@kcl.ac.uk @@ -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 @@ -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)