Fingers joints move of yarp icub through python

[ArfnZl]

Please provide python yarp icub code to move icub fingers joints move....i want to move fingers joint in yarp icub simulator through python code

[traversaro]

Hi @ArfnZl . The fingers are exposed using the same controlboard mechanism used to move all the other joints of the robot.
You can find an example on how to move the position of the shoulder (i.e. axis 0-3) of the arm via Python in https://github.com/robotology/icub-tutorials/blob/v1.21.0/python/python-motor-control.py . The fingers are controlled by the axis 9-15 of the same controlboard. I would suggest that you get familiar with the motion of each axis using the yarpmotorgui, and then once you understand the motion connected at each axis, you can modify the Python snippet to move the fingers that you want to move.