¶ Degrees of freedom
The Forearm module v2 has 3 degrees of freedom:
- Wrist pitch (range -35° to +40°)
- Wrist roll (range -15° to +15°)
- Wrist yaw (range 0° to 180°)
The forearm is connected to the Humerus Module, giving the arm 5 degrees of freedom.
¶ Ameca
¶ Control API
The actual position of the module can be accessed using controls.
Controls are accessed with the notation :
my_control = system.control(Control_name, Namespace, acquire = Parameters)
As there are two wrists (left and right) this is represented in the notation.
Below is an example of finding the position of the right wrist yaw and then making it palm up.
#get access to the control
right_wrist_yaw_control = system.control(
"Wrist Yaw Right", "Mesmer Arms 1", acquire=["demand","position"]
)
class Activity:
def on_start(self):
#find the wrist yaw
current_wrist_yaw = right_wrist_yaw_control.position
print(current_wrist_yaw)
#make the wrist palm up
right_wrist_yaw_control.demand = 180
The on_tick method can be used for more powerful, time varying demands.
A more complete tutorial on controls is given here.
¶ Control parameters:
| Control name | Namespace | Avaliable parameters |
|---|---|---|
"Wrist Pitch Right" |
"Mesmer Arms 1" |
["demand","position","min","max"] |
"Wrist Roll Right" |
"Mesmer Arms 1" |
["demand","position","min","max"] |
"Wrist Yaw Right" |
"Mesmer Arms 1" |
["demand","position","min","max"] |
"Wrist Pitch Left" |
"Mesmer Arms 1" |
["demand","position","min","max"] |
"Wrist Roll Left" |
"Mesmer Arms 1" |
["demand","position","min","max"] |
"Wrist Yaw Left" |
"Mesmer Arms 1" |
["demand","position","min","max"] |
The control_name, namespace and avaliable parameters for each control is given in the control section of the scripts page in Tritium UI, this gives more information about datatypes and access rights.