Public Member Functions
def	__init__
def	callback_biotacs
def	callback_psts
def	create_hand_publishers
def	ff_pressed
def	hand_publish
def	lf_pressed
def	mf_pressed
def	rf_pressed
def	th_pressed
Public Attributes
	fingers_pressed_functions
	hand_publishers
	sub_biotacs
	sub_psts
Static Public Attributes
tuple	action_running = mutex.mutex()
tuple	arm_publisher = rospy.Publisher('/sr_arm/sendupdate', sendupdate)
list	extended_pos_hand
list	start_pos_arm
list	start_pos_hand
list	thumb_up_pos_hand

Detailed Description

Definition at line 33 of file fancy_touch_demo_syntouch.py.

Constructor & Destructor Documentation

def fancy_touch_demo_syntouch.FancyDemo.__init__ ( self )

Definition at line 114 of file fancy_touch_demo_syntouch.py.

Member Function Documentation

def fancy_touch_demo_syntouch.FancyDemo.callback_biotacs	(	self,
		msg
	)

The callback function for the biotacs. Checks if one of the fingers
was pressed (filter the noise). If it is the case, call the
corresponding function.

@msg is the message containing the biotac data

Definition at line 163 of file fancy_touch_demo_syntouch.py.

def fancy_touch_demo_syntouch.FancyDemo.callback_psts	(	self,
		msg
	)

The callback function for the PSTs. Checks if one of the fingers
was pressed (filter the noise). If it is the case, call the
corresponding function.

@msg is the message containing the biotac data

Definition at line 182 of file fancy_touch_demo_syntouch.py.

def fancy_touch_demo_syntouch.FancyDemo.create_hand_publishers ( self )

Creates a dictionnary of publishers to send the targets to the controllers
on /sh_??j?_mixed_position_velocity_controller/command

Definition at line 138 of file fancy_touch_demo_syntouch.py.

def fancy_touch_demo_syntouch.FancyDemo.ff_pressed	(	self,
		data
	)

The first finger was pressed.

If no action is currently running, we set the ShoulderJRotate
to a negative value proportional to the pressure received.

@param data: the pressure value (pdc)

Definition at line 200 of file fancy_touch_demo_syntouch.py.

def fancy_touch_demo_syntouch.FancyDemo.hand_publish	(	self,
		pose
	)

Publishes the given pose to the correct controllers for the hand.
The targets are converted in radians.

Definition at line 155 of file fancy_touch_demo_syntouch.py.

def fancy_touch_demo_syntouch.FancyDemo.lf_pressed	(	self,
		data
	)

The little finger was pressed.

If no action is currently running, we reset the arm and
hand to their starting position

@param data: the pressure value (pdc)

Definition at line 310 of file fancy_touch_demo_syntouch.py.

def fancy_touch_demo_syntouch.FancyDemo.mf_pressed	(	self,
		data
	)

The middle finger was pressed.

If no action is currently running, we move the arm angles
to a positive value proportional to the pressure received.

@param data: the pressure value (pdc)

Definition at line 245 of file fancy_touch_demo_syntouch.py.

def fancy_touch_demo_syntouch.FancyDemo.rf_pressed	(	self,
		data
	)

The ring finger was pressed.

If no action is currently running, we make a beep
but don't do anything else.

@param data: the pressure value (pdc)

Definition at line 288 of file fancy_touch_demo_syntouch.py.

def fancy_touch_demo_syntouch.FancyDemo.th_pressed	(	self,
		data
	)

The thumb was pressed.

If no action is currently running, we send the thumb_up
targets to the hand.

@param data: the pressure value (pdc)

Definition at line 340 of file fancy_touch_demo_syntouch.py.

Member Data Documentation

tuple fancy_touch_demo_syntouch.FancyDemo::action_running = mutex.mutex() [static]

Definition at line 112 of file fancy_touch_demo_syntouch.py.

tuple fancy_touch_demo_syntouch.FancyDemo::arm_publisher = rospy.Publisher('/sr_arm/sendupdate', sendupdate) [static]

Definition at line 108 of file fancy_touch_demo_syntouch.py.

list fancy_touch_demo_syntouch.FancyDemo::extended_pos_hand [static]

Initial value:

[ joint(joint_name = "THJ1", joint_target = 21),
                       joint(joint_name = "THJ2", joint_target = 25),
                       joint(joint_name = "THJ3", joint_target = 0),
                       joint(joint_name = "THJ4", joint_target = 50),
                       joint(joint_name = "THJ5", joint_target = 9),
                       joint(joint_name = "FFJ0", joint_target = 0),
                       joint(joint_name = "FFJ3", joint_target = 0),
                       joint(joint_name = "FFJ4", joint_target = 0),
                       joint(joint_name = "MFJ0", joint_target = 0),
                       joint(joint_name = "MFJ3", joint_target = 0),
                       joint(joint_name = "MFJ4", joint_target = 0),
                       joint(joint_name = "RFJ0", joint_target = 0),
                       joint(joint_name = "RFJ3", joint_target = 0),
                       joint(joint_name = "RFJ4", joint_target = 0),
                       joint(joint_name = "LFJ0", joint_target = 0),
                       joint(joint_name = "LFJ3", joint_target = 0),
                       joint(joint_name = "LFJ4", joint_target = 0),
                       joint(joint_name = "LFJ5", joint_target = 0),
                       joint(joint_name = "WRJ1", joint_target = 0),
                       joint(joint_name = "WRJ2", joint_target = 0) ]

Definition at line 56 of file fancy_touch_demo_syntouch.py.

fancy_touch_demo_syntouch.FancyDemo::fingers_pressed_functions

Definition at line 114 of file fancy_touch_demo_syntouch.py.

fancy_touch_demo_syntouch.FancyDemo::hand_publishers

Definition at line 114 of file fancy_touch_demo_syntouch.py.

list fancy_touch_demo_syntouch.FancyDemo::start_pos_arm [static]

Initial value:

[ joint(joint_name = "ElbowJRotate", joint_target = 0),
                      joint(joint_name = "ElbowJSwing", joint_target = 59),
                      joint(joint_name = "ShoulderJRotate", joint_target = 0),
                      joint(joint_name = "ShoulderJSwing", joint_target = 33)
                      ]

Definition at line 77 of file fancy_touch_demo_syntouch.py.

list fancy_touch_demo_syntouch.FancyDemo::start_pos_hand [static]

Initial value:

[ joint(joint_name = "THJ1", joint_target = 21),
                       joint(joint_name = "THJ2", joint_target = 25),
                       joint(joint_name = "THJ3", joint_target = 0),
                       joint(joint_name = "THJ4", joint_target = 50),
                       joint(joint_name = "THJ5", joint_target = 9),
                       joint(joint_name = "FFJ0", joint_target = 180),
                       joint(joint_name = "FFJ3", joint_target = 90),
                       joint(joint_name = "FFJ4", joint_target = 0),
                       joint(joint_name = "MFJ0", joint_target = 180),
                       joint(joint_name = "MFJ3", joint_target = 90),
                       joint(joint_name = "MFJ4", joint_target = 0),
                       joint(joint_name = "RFJ0", joint_target = 180),
                       joint(joint_name = "RFJ3", joint_target = 90),
                       joint(joint_name = "RFJ4", joint_target = 0),
                       joint(joint_name = "LFJ0", joint_target = 180),
                       joint(joint_name = "LFJ3", joint_target = 90),
                       joint(joint_name = "LFJ4", joint_target = 0),
                       joint(joint_name = "LFJ5", joint_target = 0),
                       joint(joint_name = "WRJ1", joint_target = 0),
                       joint(joint_name = "WRJ2", joint_target = 0) ]

Definition at line 35 of file fancy_touch_demo_syntouch.py.

fancy_touch_demo_syntouch.FancyDemo::sub_biotacs

Definition at line 114 of file fancy_touch_demo_syntouch.py.

fancy_touch_demo_syntouch.FancyDemo::sub_psts

Definition at line 114 of file fancy_touch_demo_syntouch.py.

list fancy_touch_demo_syntouch.FancyDemo::thumb_up_pos_hand [static]

Initial value:

[ joint(joint_name = "THJ1", joint_target = 0),
                          joint(joint_name = "THJ2", joint_target = 0),
                          joint(joint_name = "THJ3", joint_target = 0),
                          joint(joint_name = "THJ4", joint_target = 0),
                          joint(joint_name = "THJ5", joint_target = 0),
                          joint(joint_name = "FFJ0", joint_target = 180),
                          joint(joint_name = "FFJ3", joint_target = 90),
                          joint(joint_name = "FFJ4", joint_target = 0),
                          joint(joint_name = "MFJ0", joint_target = 180),
                          joint(joint_name = "MFJ3", joint_target = 90),
                          joint(joint_name = "MFJ4", joint_target = 0),
                          joint(joint_name = "RFJ0", joint_target = 180),
                          joint(joint_name = "RFJ3", joint_target = 90),
                          joint(joint_name = "RFJ4", joint_target = 0),
                          joint(joint_name = "LFJ0", joint_target = 180),
                          joint(joint_name = "LFJ3", joint_target = 90),
                          joint(joint_name = "LFJ4", joint_target = 0),
                          joint(joint_name = "LFJ5", joint_target = 0),
                          joint(joint_name = "WRJ1", joint_target = 0),
                          joint(joint_name = "WRJ2", joint_target = 10) ]

Definition at line 83 of file fancy_touch_demo_syntouch.py.

The documentation for this class was generated from the following file:

fancy_touch_demo_syntouch.py

Public Member Functions

Public Attributes

Static Public Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation