Hand Poses¶

Control individual finger joints for hand gestures and poses.

Overview¶

The PIB robot has 12 finger joints (6 per hand). All values are in percent where 0% = bent/closed and 100% = stretched/open.

HandPose Enum¶

The HandPose enum provides preset poses for quick hand control:

from pib3 import HandPose, LEFT_HAND_JOINTS, RIGHT_HAND_JOINTS

with Robot(host="172.26.34.149") as robot:
    # Preset poses
    robot.set_joints(HandPose.LEFT_OPEN)      # Open left hand
    robot.set_joints(HandPose.LEFT_CLOSED)    # Close left hand
    robot.set_joints(HandPose.RIGHT_OPEN)     # Open right hand
    robot.set_joints(HandPose.RIGHT_CLOSED)   # Close right hand

    # Partial grip using joint lists
    robot.set_joints({j: 50.0 for j in LEFT_HAND_JOINTS})   # 50% grip
    robot.set_joints({j: 75.0 for j in RIGHT_HAND_JOINTS})  # 75% grip

Available Poses¶

Pose	Description
`HandPose.LEFT_OPEN`	Left hand fully open (all joints at 100%)
`HandPose.LEFT_CLOSED`	Left hand fully closed (all joints at 0%)
`HandPose.RIGHT_OPEN`	Right hand fully open (all joints at 100%)
`HandPose.RIGHT_CLOSED`	Right hand fully closed (all joints at 0%)

Joint Lists¶

For custom poses, use the joint lists with the Joint enum:

List	Contents
`LEFT_HAND_JOINTS`	All 6 left hand joints as `Joint` enums
`RIGHT_HAND_JOINTS`	All 6 right hand joints as `Joint` enums

Available Finger Joints¶

Left Hand¶

Joint Enum	String Value	Description
`Joint.THUMB_LEFT_OPPOSITION`	`thumb_left_opposition`	Thumb rotation
`Joint.THUMB_LEFT_STRETCH`	`thumb_left_stretch`	Thumb bend
`Joint.INDEX_LEFT`	`index_left_stretch`	Index finger bend
`Joint.MIDDLE_LEFT`	`middle_left_stretch`	Middle finger bend
`Joint.RING_LEFT`	`ring_left_stretch`	Ring finger bend
`Joint.PINKY_LEFT`	`pinky_left_stretch`	Pinky finger bend

Right Hand¶

Joint Enum	String Value	Description
`Joint.THUMB_RIGHT_OPPOSITION`	`thumb_right_opposition`	Thumb rotation
`Joint.THUMB_RIGHT_STRETCH`	`thumb_right_stretch`	Thumb bend
`Joint.INDEX_RIGHT`	`index_right_stretch`	Index finger bend
`Joint.MIDDLE_RIGHT`	`middle_right_stretch`	Middle finger bend
`Joint.RING_RIGHT`	`ring_right_stretch`	Ring finger bend
`Joint.PINKY_RIGHT`	`pinky_right_stretch`	Pinky finger bend

Basic Control¶

from pib3 import Robot, Joint

with Robot(host="172.26.34.149") as robot:
    # Individual finger control
    robot.set_joint(Joint.INDEX_LEFT, 0.0)    # Fully closed/bent
    robot.set_joint(Joint.INDEX_LEFT, 100.0)  # Fully open/stretched

    # Multiple fingers at once
    robot.set_joints({
        Joint.INDEX_LEFT: 50.0,
        Joint.MIDDLE_LEFT: 50.0,
        Joint.RING_LEFT: 50.0,
        Joint.PINKY_LEFT: 50.0,
    })

Custom Gestures¶

Pointing Gesture¶

from pib3 import Robot, Joint

with Robot(host="172.26.34.149") as robot:
    robot.set_joints({
        Joint.THUMB_LEFT_OPPOSITION: 50.0,
        Joint.THUMB_LEFT_STRETCH: 50.0,
        Joint.INDEX_LEFT: 100.0,     # Open (pointing)
        Joint.MIDDLE_LEFT: 0.0,      # Closed
        Joint.RING_LEFT: 0.0,        # Closed
        Joint.PINKY_LEFT: 0.0,       # Closed
    })

Peace Sign¶

from pib3 import Robot, Joint

with Robot(host="172.26.34.149") as robot:
    robot.set_joints({
        Joint.THUMB_LEFT_OPPOSITION: 0.0,
        Joint.THUMB_LEFT_STRETCH: 0.0,
        Joint.INDEX_LEFT: 100.0,     # Open
        Joint.MIDDLE_LEFT: 100.0,    # Open
        Joint.RING_LEFT: 0.0,        # Closed
        Joint.PINKY_LEFT: 0.0,       # Closed
    })

Thumbs Up¶

from pib3 import Robot, Joint

with Robot(host="172.26.34.149") as robot:
    robot.set_joints({
        Joint.THUMB_LEFT_OPPOSITION: 100.0,
        Joint.THUMB_LEFT_STRETCH: 100.0,   # Open (up)
        Joint.INDEX_LEFT: 0.0,             # Closed
        Joint.MIDDLE_LEFT: 0.0,            # Closed
        Joint.RING_LEFT: 0.0,              # Closed
        Joint.PINKY_LEFT: 0.0,             # Closed
    })

Animation Example¶

from pib3 import Robot, Joint, HandPose, LEFT_HAND_JOINTS

with Robot(host="172.26.34.149") as robot:
    # Open hand
    robot.set_joints(HandPose.LEFT_OPEN, async_=False)

    # Wave by moving wrist
    for _ in range(3):
        robot.set_joint(Joint.WRIST_LEFT, 30.0, async_=False)
        robot.set_joint(Joint.WRIST_LEFT, 70.0, async_=False)

    # Return to neutral
    robot.set_joint(Joint.WRIST_LEFT, 50.0, async_=False)

Mirrored Gestures¶

Apply the same grip to both hands:

from pib3 import Robot, LEFT_HAND_JOINTS, RIGHT_HAND_JOINTS

with Robot(host="172.26.34.149") as robot:
    grip = 50.0  # 50% closed

    # Apply to both hands
    both_hands = {j: grip for j in LEFT_HAND_JOINTS + RIGHT_HAND_JOINTS}
    robot.set_joints(both_hands)