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 toHandconfigTarget(self):
handconfig = {
"index" : None,
"middle" : None,
"ring" : None,
"pinky" : None,
"thumb" : None
}
for finger in self.SF.members:
if finger != "thumb":
handconfig[finger] = hc.finger(
MCP=hc.joint(dfFlex=phonoJoints[self.SF.MCP.value],
dfAbd=phonoAbduction[finger][self.SF.abd.value]),
PIP=hc.joint(dfFlex=phonoJoints[self.SF.PIP.value]),
DIP=hc.joint(dfFlex=phonoJoints[self.SF.PIP.value])
)
else:
handconfig[finger] = hc.thumb(
MCP=hc.joint(dfFlex=phonoJoints[self.SF.MCP.value]),
IP=hc.joint(dfFlex=phonoJoints[self.SF.PIP.value]),
CM=hc.joint(
dfFlex=phonoAbduction[finger][self.SF.abd.value][self.thumb.oppos.value][0],
dfAbd=phonoAbduction[finger][self.SF.abd.value][self.thumb.oppos.value][2],
dfRot=phonoAbduction[finger][self.SF.abd.value][self.thumb.oppos.value][1])
)
if self.SSF is not None:
for finger in self.SSF.members:
if finger != "thumb":
handconfig[finger] = hc.finger(
MCP=hc.joint(dfFlex=phonoJoints[self.SSF.MCP.value],
dfAbd=phonoAbduction[finger][self.SSF.abd.value]),
PIP=hc.joint(dfFlex=phonoJoints[self.SSF.PIP.value]),
DIP=hc.joint(dfFlex=phonoJoints[self.SSF.PIP.value])
)
else:
handconfig[finger] = hc.thumb(
MCP=hc.joint(dfFlex=phonoJoints[self.SSF.MCP.value]),
IP=hc.joint(dfFlex=phonoJoints[self.SSF.PIP.value]),
CM=hc.joint(
dfFlex=phonoAbduction[finger][self.SSF.abd.value][self.thumb.oppos.value][0],
dfAbd=phonoAbduction[finger][self.SSF.abd.value][self.thumb.oppos.value][2],
dfRot=phonoAbduction[finger][self.SSF.abd.value][self.thumb.oppos.value][1])
)
if self.NSF is not None:
for finger in self.NSF.members:
if self.NSF.joints.value == "ext":
NSFAbd = "neutralAbducted"
NSFAbd = "abducted"
else:
NSFAbd = "adducted"
if finger != "thumb":
handconfig[finger] = hc.finger(
MCP=hc.joint(dfFlex=phonoJoints[self.NSF.joints.value],
dfAbd=phonoAbduction[finger][NSFAbd]),
PIP=hc.joint(dfFlex=phonoJoints[self.NSF.joints.value]),
DIP=hc.joint(dfFlex=phonoJoints[self.NSF.joints.value])
)
else:
handconfig[finger] = hc.thumb(
MCP=hc.joint(dfFlex=phonoJoints[self.NSF.joints.value]),
IP=hc.joint(dfFlex=phonoJoints[self.NSF.joints.value]),
CM=hc.joint(
dfFlex=phonoAbduction[finger][NSFAbd]["unopposed"][0],
dfAbd=phonoAbduction[finger][NSFAbd]["unopposed"][2],
dfRot=phonoAbduction[finger][NSFAbd]["unopposed"][1])
)
# Check!
return hc.handconfiguration(handconfig["index"], handconfig["middle"], handconfig["ring"], handconfig["pinky"], handconfig["thumb"] )