#corresponding_jointangle_frame = frameManager.get_corresponding_jointangles(frameID)
#theta = frameManager.get_corresponding_jointangles(frameID)
Phi0 = 90 # Rotational axis (Finger 0 + 2) [0, 90]
Phi1 = -15 # Finger 0 proximal [-90, 90]
Phi2 = 15 # Finger 0 distal [-90, 90]
Phi3 = -90 # Finger 1 proximal [-90, 90]
Phi4 = 0 # Finger 1 distal [-90, 90]
Phi5 = -15 # Finger 2 proximal [-90, 90]
Phi6 = 15 # Finger 2 distal [-90, 90]
theta = np.array([Phi0, Phi1, Phi2, Phi3, Phi4, Phi5, Phi6], dtype=np.float64)
# Compute transformation matrices
T01_f0, T02_f0, T03_f0 = DH.create_transformation_matrices_f0(
Phi0, Phi1, Phi2) # Finger 0
T01_f1, T02_f1, T03_f1 = DH.create_transformation_matrices_f1(Phi3,
Phi4) # Finger 1
T01_f2, T02_f2, T03_f2 = DH.create_transformation_matrices_f2(
Phi0, Phi5, Phi6) # Finger 2
# Forward kinematics of active sensor cells
# Finger 0
points_f0_prox = project_active_cells_proximal(tsframe_proximal_f0, T02_f0)
points_f0_dist = project_active_cells_distal(tsframe_distal_f0, T03_f0)
# Finger 1
points_f1_prox = project_active_cells_proximal(tsframe_proximal_f1, T02_f1)
points_f1_dist = project_active_cells_distal(tsframe_distal_f1, T03_f1)
# Finger 3
points_f2_prox = project_active_cells_proximal(tsframe_proximal_f2, T02_f2)
points_f2_dist = project_active_cells_distal(tsframe_distal_f2, T03_f2)
#corresponding_jointangle_frame = frameManager.get_corresponding_jointangles(frameID) #theta = frameManager.get_corresponding_jointangles(frameID) Phi0 = 90 # Rotational axis (Finger 0 + 2) [0, 90] Phi1 = -15 # Finger 0 proximal [-90, 90] Phi2 = 15 # Finger 0 distal [-90, 90] Phi3 = -90 # Finger 1 proximal [-90, 90] Phi4 = 0 # Finger 1 distal [-90, 90] Phi5 = -15 # Finger 2 proximal [-90, 90] Phi6 = 15 # Finger 2 distal [-90, 90] theta = np.array([Phi0, Phi1, Phi2, Phi3, Phi4, Phi5, Phi6], dtype=np.float64) # Compute transformation matrices T01_f0, T02_f0, T03_f0 = DH.create_transformation_matrices_f0(Phi0, Phi1, Phi2) # Finger 0 T01_f1, T02_f1, T03_f1 = DH.create_transformation_matrices_f1(Phi3, Phi4) # Finger 1 T01_f2, T02_f2, T03_f2 = DH.create_transformation_matrices_f2(Phi0, Phi5, Phi6) # Finger 2 # Forward kinematics of active sensor cells # Finger 0 points_f0_prox = project_active_cells_proximal(tsframe_proximal_f0, T02_f0) points_f0_dist = project_active_cells_distal(tsframe_distal_f0, T03_f0) # Finger 1 points_f1_prox = project_active_cells_proximal(tsframe_proximal_f1, T02_f1) points_f1_dist = project_active_cells_distal(tsframe_distal_f1, T03_f1) # Finger 3 points_f2_prox = project_active_cells_proximal(tsframe_proximal_f2, T02_f2) points_f2_dist = project_active_cells_distal(tsframe_distal_f2, T03_f2)
