class specificationError(Exception):
pass
##### Path to deafult in the base pose to alter #####
baseHCposeFile = path.join(funcs.resources_dir, "fsBaseOpticalClosedToOpen.yml")
##### Establish joint angles for the base hand #####
index = hc.finger(MCP=(180, 5), PIP=180, DIP=180)
middle = hc.finger(MCP=(180, 2), PIP=180, DIP=180)
ring = hc.finger(MCP=(180, -2), PIP=180, DIP=180)
pinky = hc.finger(MCP=(180, -4), PIP=180, DIP=180)
thmb = hc.thumb(CM=hc.joint(dfFlex=15, dfAbd=9, dfRot=27, dfPro=None), MCP=180, IP=180)
wrist = (0, 0, 0) # the wrist values here are not those in the pose file, these need to be changed in the future
baseHC = hc.armconfiguration(hc.handconfiguration(index, middle, ring, pinky, thmb), wrist)
def ntz(value):
"""Change a none to zero"""
if value == None:
value = 0
return value
def renderImage(hc, imageOutFile, baseHCposeFile=baseHCposeFile, baseHC=baseHC):
##### Read in the base pose to alter #####
baseHCposefile = open(baseHCposeFile, "r")
baseHCpose = yaml.load(baseHCposefile)
baseHCposefile.close()
def toArmTarget(self):
wrist = hc.joint(dfFlex=phonoOrientations[self.orientation][0], dfRot=phonoOrientations[self.orientation][1], dfPro=phonoOrientations[self.orientation][2])
return hc.armconfiguration(hand=self.handshape.toHandconfigTarget() , wrist=wrist)
