HandAgent¶
Images¶
Description¶
A floating hand agent that can be controlled by applying torques to joints and moved around in three dimensions.
Control Schemes¶
Raw Joint Torques (
0
)23 length vector of raw torques to pass into the joints, in the order listed beow in HandAgent Joints
Scaled Joint Torques (
1
)23 length vector of scaled torques, between
-1
and1
. The strength finger each joint is scaled depending on the weight of the bone and if it is a finger or not.1
represents the maximum power in the forward directionScaled Joint Torques + Floating (
2
)Same as above, but the vector is of length 26, with the last three values representing the amount of movement in the
[x, y, z]
directions (see Coordinate System), with a maximum of0.5
meters of freedom.The last coordinates allow the HandAgent to float around.
HandAgent Joints¶
The control scheme for the HandAgent and the
JointRotationSensor
use a 94 length vector refer
to 48 joints.
To gain insight into these joints, refer to the table below.
Note
Note that the index given is the start index for the joint, see the section header for how many values after this index each joint has.
Example: hand_r
starts at index 0, and has [swing1, swing2, twist]
,
so index 0 in the vector corresponds to swing1
, 1 corresponds to
swing2
, and 2 corresponds to twist
for hand_r
Returned in the following order:
Arm joints Each has |
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First joint of each finger Has only |
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Second joint of each finger Has only |
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Third joint of each finger Has only |
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HandAgent Bones¶
The RelativeSkeletalPositionSensor
returns an
array with four entries for each of the 17 bones listed below.
Index |
Bone Name |
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Sockets¶
CameraSocket
located behind and above the wristViewport
located looking at the agent from the sideAll of the joints may be used as sockets. See HandAgent Joints