¶ Degrees of freedom
The hand module is under articulated, meaning there are not precise ranges for the degrees of freedom. Instead of precise degrees of freedom, the finger position is represented as a number between [0,1]. 0 representing a 'clenched' finger, 1 representing an open finger.
The hand module is connected to the forearm module.
¶ 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 hands (left and right) this is represented in the notation.
Below is an example of finding the position of the right ring finger and then clenching it.
#get access to the control
right_ring_finger_control = system.control(
"Ring Finger Right", "Mesmer Fingers 1", acquire=["demand","position"]
)
class Activity:
def on_start(self):
#find the finger position
current_finger_position = right_ring_finger_control.position
print(current_finger_position)
#clench finger
right_ring_finger_control.demand = 0
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 |
|---|---|---|
"Index Finger Left" |
"Mesmer Fingers 1" |
["demand","position","min","max"] |
"Index Finger Right" |
"Mesmer Fingers 1" |
["demand","position","min","max"] |
"Little Finger Left" |
"Mesmer Fingers 1" |
["demand","position","min","max"] |
"Little Finger Right" |
"Mesmer Fingers 1" |
["demand","position","min","max"] |
"Middle Finger Left" |
"Mesmer Fingers 1" |
["demand","position","min","max"] |
"Middle Finger Right" |
"Mesmer Fingers 1" |
["demand","position","min","max"] |
"Ring Finger Left" |
"Mesmer Fingers 1" |
["demand","position","min","max"] |
"Ring Finger Right" |
"Mesmer Fingers 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.