[ return ]
Grasp Spec. File (sample)
gspec
name precision.10.i
type precision
aperture 10
thumb 70.00 35.72 43.38 #final position
index 18.75 57.42 57.42
middle 10.00 10.00 10.00
ring 10.00 10.00 10.00
little 10.00 10.00 10.00
thumb 70.00 16.01 54.61 #max aperture
index 8.17 43.00 43.00
middle 10.00 10.00 10.00
ring 10.00 10.00 10.00
little 10.00 10.00 10.00
thumb 0.00 -2.67 2.38 #Jacobian
index -1.97 -1.00 -1.00
middle 0.00 0.00 0.00
ring 0.00 0.00 0.00
little 0.00 0.00 0.00
thumb 1 # expected tactile input
sindex 0
index 0 0 1
middle 0 0 0
ring 0 0 0
little 0 0 0
center 1d 0.819152 -0.573576 0.000000 0.573576 0.819152 0.000000 0.000000 0.000000 1.000000 121.666915 70.301109 39.402069
name precision.20.i
type precision
aperture 20
thumb 70.00 30.51 47.80 #final position
index 14.98 55.25 55.25
middle 10.00 10.00 10.00
ring 10.00 10.00 10.00
little 10.00 10.00 10.00
thumb 70.00 13.20 54.72 #max aperture
index 8.11 38.84 38.84
middle 10.00 10.00 10.00
ring 10.00 10.00 10.00
little 10.00 10.00 10.00
thumb 0.00 -2.44 1.74 #Jacobian
index -1.62 -1.34 -1.34
middle 0.00 0.00 0.00
ring 0.00 0.00 0.00
little 0.00 0.00 0.00
thumb 1 # expected tactile input
sindex 0
index 0 0 1
middle 0 0 0
ring 0 0 0
little 0 0 0
center 1d 0.819152 -0.573576 0.000000 0.573576 0.819152 0.000000 0.000000 0.000000 1.000000 124.579834 70.974294 40.046491
name side.10
type side
aperture 10
thumb 20.00 68.34 54.50 #final position
index 70.00 70.00 70.00
middle 70.00 70.00 70.00
ring 70.00 70.00 70.00
little 70.00 70.00 70.00
thumb 20.00 8.77 88.50 #max aperture
index 70.00 70.00 70.00
middle 70.00 70.00 70.00
ring 70.00 70.00 70.00
little 70.00 70.00 70.00
thumb 0.00 -8.25 10.08 #Jacobian
index 0.00 0.00 0.00
middle 0.00 0.00 0.00
ring 0.00 0.00 0.00
little 0.00 0.00 0.00
thumb 1 # expected tactile input
sindex 1
index 0 0 0
middle 0 0 0
ring 0 0 0
little 0 0 0
center 1d 0.000000 0.000000 -1.000000 0.000000 1.000000 0.000000 1.000000 0.000000 0.000000 102.127068 30.639702 36.000000