Public Member Functions | Public Attributes | Static Public Attributes
fancy_touch_demo.FancyDemo Class Reference

List of all members.

Public Member Functions

def __init__
def callback_ff
def callback_lf
def callback_mf
def callback_th

Public Attributes

 sub_ff
 sub_lf
 sub_mf
 sub_th

Static Public Attributes

tuple action_running = mutex.mutex()
tuple arm_publisher = rospy.Publisher('/sr_arm/sendupdate', sendupdate)
tuple hand_publisher = rospy.Publisher('/srh/sendupdate', sendupdate)
list start_pos_arm
list start_pos_hand
list thumb_up_pos_hand

Detailed Description

Definition at line 29 of file fancy_touch_demo.py.


Constructor & Destructor Documentation

Definition at line 91 of file fancy_touch_demo.py.


Member Function Documentation

def fancy_touch_demo.FancyDemo.callback_ff (   self,
  data 
)
The callback function for the first finger:
called each time the tactile sensor publishes a message.

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

@param data: the pressure value

Definition at line 111 of file fancy_touch_demo.py.

def fancy_touch_demo.FancyDemo.callback_lf (   self,
  data 
)
The callback function for the little finger:
called each time the tactile sensor publishes a message.

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

@param data: the pressure value

Definition at line 239 of file fancy_touch_demo.py.

def fancy_touch_demo.FancyDemo.callback_mf (   self,
  data 
)
The callback function for the middle finger:
called each time the tactile sensor publishes a message.

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

@param data: the pressure value

Definition at line 158 of file fancy_touch_demo.py.

def fancy_touch_demo.FancyDemo.callback_th (   self,
  data 
)
The callback function for the thumb:
called each time the tactile sensor publishes a message.

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

@param data: the pressure value

Definition at line 205 of file fancy_touch_demo.py.


Member Data Documentation

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

Definition at line 89 of file fancy_touch_demo.py.

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

Definition at line 85 of file fancy_touch_demo.py.

tuple fancy_touch_demo.FancyDemo::hand_publisher = rospy.Publisher('/srh/sendupdate', sendupdate) [static]

Definition at line 81 of file fancy_touch_demo.py.

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 52 of file fancy_touch_demo.py.

Initial value:
[ joint(joint_name = "THJ1", joint_target = 21),
                       joint(joint_name = "THJ2", joint_target = 30),
                       joint(joint_name = "THJ3", joint_target = 0),
                       joint(joint_name = "THJ4", joint_target = 30),
                       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 31 of file fancy_touch_demo.py.

Definition at line 91 of file fancy_touch_demo.py.

Definition at line 91 of file fancy_touch_demo.py.

Definition at line 91 of file fancy_touch_demo.py.

Definition at line 91 of file fancy_touch_demo.py.

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 58 of file fancy_touch_demo.py.


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


sr_hand
Author(s): Ugo Cupcic / ugo@shadowrobot.com, contact@shadowrobot.com
autogenerated on Fri Jan 3 2014 12:03:25