Object(s) to hand over

Object

yes

An object parameter defining the object(s) which shall be transferred to the other hand. This enables the object swapping between hands.

Target position

Selection

no

A selection parameter defining the position of the hand(s) in relation to the body when the object transfer take place.

If none (keep current posture) is selected, the object position remains unchanged and the second hand is guided to the best possible grab point. Upper body movement is allowed, unless Upper body upright is activated.

With below waist the position may not be achievable without bending, so only this setting allows upper body movement unless Upper body upright is enabled.

Upper body upright

Checkbox

no

A decision parameter determining whether the upper body will be straight or not during object transfer.

Target hand posture

Selection

no

A selection parameter defining the hand posture to handle the target. If not defined, the hand posture stored for the handled object is used.

Hand (posture) percentage [%]

Floating-point number

(0.0 to 100.0)

no

Percentage value to fine tune the hand posture between open hand (0%) and the defined hand posture (100%).