[ 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