Jerry
108 lines
3.4 KiB
Python
108 lines
3.4 KiB
Python
"""lyra — dexterous humanoid right hand concept for an advanced biped.
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An aesthetically refined five-digit robotic hand: slim pearl-composite
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shells over a graphite structural core, machined-aluminum precision
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knuckle clevises with visible pivot pins, tendon-driven architecture
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(dorsal tendon channels with a tensioner dial row at the wrist), integrated
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tactile pads (palm array, per-phalanx strips, soft-touch fingertip caps),
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an amber-ringed palm sensor, and a bolt-circle wrist flange. No logos.
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Degrees of freedom (16, statically posed in the baked STEP):
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- each finger (index/middle/ring/pinky): MCP, PIP, DIP flexion -> 12
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- thumb: CMC yaw (opposition swing), CMC flex, MP, IP -> 4
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Coordinates: RIGHT hand; wrist-flange mount face center = origin,
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+Z distal (fingers up), +Y palmar, +X radial (thumb side). Units mm.
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Chain offsets, joint limits, and the baked "relaxed" pose live in
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lyra_parts/chain.py and are shared with the URDF/SRDF generators
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(lyra_parts/description.py) and the CAD Viewer animation sidecar
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(.lyra.step.js); edit them there.
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"""
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from __future__ import annotations
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from build123d import Compound
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from cadpy.assembly import AssemblyHelper
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from lyra_parts import chain
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from lyra_parts.digits import (
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build_finger_distal,
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build_finger_middle,
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build_finger_proximal,
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build_thumb_base,
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build_thumb_distal,
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build_thumb_metacarpal,
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build_thumb_proximal,
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)
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from lyra_parts.lib import revolute_attach
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from lyra_parts.palm import build_palm
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def _builders():
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builders = {}
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for finger in chain.FINGERS:
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builders[f"{finger}_proximal"] = lambda f=finger: build_finger_proximal(f)
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builders[f"{finger}_middle"] = lambda f=finger: build_finger_middle(f)
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builders[f"{finger}_distal"] = lambda f=finger: build_finger_distal(f)
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builders["thumb_base"] = build_thumb_base
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builders["thumb_metacarpal"] = build_thumb_metacarpal
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builders["thumb_proximal"] = build_thumb_proximal
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builders["thumb_distal"] = build_thumb_distal
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return builders
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def _xref_for(axis) -> tuple:
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return (0.0, 1.0, 0.0) if abs(axis[0]) > 0.9 else (1.0, 0.0, 0.0)
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def assemble() -> Compound:
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"""Labeled assembly baked in the chain's relaxed pose.
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Occurrence order (#o1.N in the generated STEP) is palm first, then
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chain.all_joints() child order: index, middle, ring, pinky
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(proximal/middle/distal each), then thumb base/metacarpal/proximal/
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distal — the animation sidecar relies on this order.
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"""
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asm = AssemblyHelper(chain.ROBOT_NAME)
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builders = _builders()
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pose = chain.named_poses_deg()[chain.BAKED_POSE_NAME]
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parts = {"palm": asm.add(build_palm(), "palm")}
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for joint in chain.all_joints():
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child = asm.add(builders[joint["child"]](), joint["child"])
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axis = joint["axis"]
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xref = _xref_for(axis)
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revolute_attach(
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asm,
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parts[joint["parent"]],
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child,
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joint["name"],
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joint["origin_mm"],
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axis,
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xref,
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(0.0, 0.0, 0.0),
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axis,
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xref,
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pose[joint["name"]],
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)
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parts[joint["child"]] = child
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return asm.build()
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def gen_step():
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return assemble()
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def gen_urdf():
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from lyra_parts.description import build_urdf
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return {"xml": build_urdf()}
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def gen_srdf():
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from lyra_parts.description import build_srdf
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return {"xml": build_srdf(), "urdf": "lyra.urdf"}
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