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Sandia Hand Joint Names

All,

To control joints in the atlas robot, we have convenient enum in the message as shown below, so if I want to control a specific joint, I know which array element to put the command values in.

I have been looking for the same thing for the sandia hands, and can't find it. I have found some materials with names like leftfoj1 or the like, but is the element 0? element 15? I need an enum. I'm sure this is buried somewhere in the source code, but I have not managed to find it. Can some body point me to this, or maybe even just post the numbering in an answer?

Thanks

int32 backlbz = 0 int32 backmby = 1 int32 backubx = 2 int32 neckay = 3 int32 lleguhz = 4 int32 llegmhx = 5 int32 lleglhy = 6 int32 llegkny = 7 int32 lleguay = 8 int32 lleglax = 9 int32 rleguhz = 10 int32 rlegmhx = 11 int32 rleglhy = 12 int32 rlegkny = 13 int32 rleguay = 14 int32 rleglax = 15 int32 larmusy = 16 int32 larmshx = 17 int32 larmely = 18 int32 larmelx = 19 int32 larmuwy = 20 int32 larmmwx = 21 int32 rarmusy = 22 int32 rarmshx = 23 int32 rarmely = 24 int32 rarmelx = 25 int32 rarmuwy = 26 int32 rarmmwx = 27

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The ordering of the SandiaHand joints can be seen in SandiaHandPlugin.cpp:69-93. f0 refers to the index finger, f1 refers to the middle finger, f2 refers to the pinky finger, and f3 refers to the thumb. j0, j1, and j2 refer to the joints on each finger.

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Asked: 2013-05-29 19:11:56 -0500

Seen: 99 times

Last updated: May 30 '13