MoveFingersMMU

Move Fingers MMU

Scope

The MoveFingersMMU is a basic MMU that allows the manipulation of finger joints. In particular, the MMU allows to blend between different hand postures specified using MPostureConstraints.

Overall Data

Property	Values
Name	MoveFingersMMU
ID	daimler.com:MoveFingersMMU/1.0
VendorDomain	daimler.com
Vendor	Daimler Buses
Author	Felix Gaisbauer
Short description	MMU allows to manipulate the finger joints by means of motion blending.
Long description	MMU allows to manipulate the finger joints by means of motion blending.
Programming Language	C#
Development Tools	Visual Studio 2017
Service dependencies	-
MMU dependencies (Motion types)	-
File dependencies	MoveFingersMMU.dll
Application dependencies	requires .Net 4.5 or newer
Additional Libraries	-
MotionType	Pose/MoveFingers
Events	FingersPositioned
Basic MMU	yes
License	MIT

Functionalities

In the following an overview of the functionalities and parameters of the MoveFingersMMUare provided.

Parameters

Runtime Parameters

Name	Type	Required	Description
Hand	{Left,Right}	yes	The hand type.
Release	bool	no	Specifies whether the hand posture should be released.
HandPose	MPostureConstraint(ID)	no	The desired hand pose.
Duration	float	no	The desired duration until the pose is established.
AngularVelocity	float	no	The max angular velocity of the finger motions.

An important parameter that must be specified for using the MMU is the Hand and the corresponding HandPose that should be reached. The MMU supports two modes, whereas by default the given handpose is tried to be achieved, the MMU furthermore supports a Release motion. If the Release parameter is set, an HandPose is not required. In this mode, the MMU establishes the original hand posture given by the previous MMU in hierarchy.

Scene Parameters

The MoveFingersMMU does not require explicit scene parameters.

Examples

//Indicates whether a release motion should be performed
public bool Release = false;

//The desired Hand pose (rotations of the finger Joints)
public UnityHandPose LeftHandPose;

//Create the instruction to move the fingers
MInstruction moveFingersInstructions = new MInstruction(System.Guid.NewGuid().ToString(), "Move fingers", "Pose/MoveFingers")
{
     Properties = new Dictionary<string, string>()
     {
            {"Release", this.Release.ToString() },
            {"Hand", "Left" }
     },

     Constraints = new List<MConstraint>()
};

string constraintID = System.Guid.NewGuid().ToString();
moveFingersInstructions.Properties.Add("HandPose", constraintID);
moveFingersInstructions.Constraints.Add(new MConstraint()
{
       ID = constraintID,
       PostureConstraint = this.LeftHandPose.GetPostureConstraint()
});

Known Issues

Technical Information

The MoveFingersMMU utilizes joint interpolation to transfer the finger orientations from the currently present posture to the desired one.

Licensing

Provided as basic MMU with MIT license.