Hand Gestures

Interaction between controller and hand endeffectors.

In the modify robot settings panel, if the selected arm has an Inspire Hand or xHand hand end effector attached to it, the Hand Gestures dropdown and the Create Hand Gesture Button will be visible. Pressing the trigger button on the controller while interacting with the hand end effector will change the end effector's state to a grasped state, depending on how hard the button is pressed. Hand Gesture: Hand gestures set the hand end effector's natural and grasped states.

Hand Gesture Dropdown: Show every available hand gesture for the currently equipped end effector.

Create Hand Gesture Button: Opens up the Create Hand Gesture Panel.

Create New Hand Gesture Panel

Name: Name of the hand gesture created. Set Natural Position: Sets the hand's current position as the natural state of the hand gesture. Set Grasped Position: Sets the hand's current position as the grasped state of the hand gesture. Save Button: The Save button is only enabled when both the natural and grasped states for the hand gesture are set. Pressing the button creates a new gesture and takes the user back to the Modify Robot Settings Panel. To set the hand to the desired position:

1. Switch to Robot Control mode.

2. Interact with the connected endeffector and move it to the desired position.

3. Stop the interaction.(endeffector will remain in its last position )

4. Press Set Natural Position or Set Grasped Position to save the current Pose.

Created Hand Gesture will be visible in the Hand Gestures Dropdown.