Ability to work left-handed (i.e. mount camera on left, rotate markers onto left residuum, and on-screen representation of MPL show up as a southpaw). Agreed-upon API for controlling the environment (e.g. execute tests under control of external software, such as MATLAB). Validation that timing matches expected behavior of limb (i.e. 50 Hz update).
We will mirror the meshes and create a left-handed model. As for motion capture, the cameras will need to be moved to the left side of the subject, or the hand-tracking body will need to be mounted on the palmar side -- otherwise the markers will get occluded during pronation-supination movements. Re API for controlling the environment, we current have the MuJoCo-specific mjhx_reset function which takes an integer argument specifying a "keyframe". These keyframes are predefined configurations that can be saved in the model (see Settings / Sim dialog). The simulation then resets to the desired keyframe. What other control commands do we need? Re timing validation, the way to do it is the user-side code, because we are using a client-server model where all communications are initiated by the client (i.e. user). In MATLAB, simply type: tic; sensor = hx_update(command); toc