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Define hand data ROS message for VR #39

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Define hand data ROS message for VR #39

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10 changes: 10 additions & 0 deletions autonomy/wato_msgs/common_msgs/msg/VRFingerFeatures.msg
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Original file line number Diff line number Diff line change
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float32 curl

# Not used by thumb
float32 flexion

# Not used by pinky
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@wilsonchenghy wilsonchenghy Mar 25, 2026

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Suggested change
# Not used by pinky
# Abduction is the angle between the fingers, so from 5 fingers, there are only 4 in-between-angles. E.g. index finger's abduction angle represent the angle between the index finger and the middle finger.
# Not used by pinky coz the ring finger's abduction angle already represent the angle between the ring and pinky finger

float32 abduction

# Not used by thumb
float32 opposition
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@wilsonchenghy wilsonchenghy Mar 25, 2026

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Wondering if the comments could be more descriptive on what each value represent? So the simulation team that is working on resolving the joint angle from it can sync up better with it

5 changes: 5 additions & 0 deletions autonomy/wato_msgs/common_msgs/msg/VRHandState.msg
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sample_msgs/FingerFeatures thumb
sample_msgs/FingerFeatures index
sample_msgs/FingerFeatures middle
sample_msgs/FingerFeatures ring
sample_msgs/FingerFeatures pinky
12 changes: 12 additions & 0 deletions autonomy/wato_msgs/common_msgs/msg/VRTwoHandState.msg
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std_msgs/Header header

smple_msgs/VRHandState left
sample_msgs/VRHandState right

# right hand position - left hand position
geometry_msgs/msg/Vector3 position_diff
float32 distance

# sin/cos of right hand rotation - left hand rotation
geometry_msgs/Vector3 rotation_diff_sin
geometry_msgs/Vector3 rotation_diff_cosa
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