Hand Gestures

Interaction between controller and hand endeffectors.

Hand Gestures enables custom control of supported robotic hands using a standard VR controller.

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: Display all available hand gestures 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. Enable voice recognition from the settings panel and trigger the "Start Voice Recognition" command.

3. Trigger the "Engage control" command (this command is only available while in robot control mode) and put your hand inside the collider so that you can get control of the hand end effector.

4. Interact with the connected end effector and move it to the desired position.

5. Trigger the "Disable control" command to stop interacting with the hand end effector (end effector will remain in its last position)

6. After setting the hand end effector to the desired position, press the "Set Natural Position" or "Set Grasped Position" button to save the current pose.

The save button will be enabled when both the natural position and the grasped position are set. The created hand gesture will be visible in the Hand Gestures Dropdown.