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

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Detailed Description

Definition at line 29 of file fancy_touch_demo.py.

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Constructor & Destructor Documentation

def fancy_touch_demo.FancyDemo.__init__

(

self

)

Definition at line 91 of file fancy_touch_demo.py.

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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.

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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.

list fancy_touch_demo.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 52 of file fancy_touch_demo.py.

list fancy_touch_demo.FancyDemo::start_pos_hand [static]

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.

fancy_touch_demo.FancyDemo::sub_ff

Definition at line 91 of file fancy_touch_demo.py.

fancy_touch_demo.FancyDemo::sub_lf

Definition at line 91 of file fancy_touch_demo.py.

fancy_touch_demo.FancyDemo::sub_mf

Definition at line 91 of file fancy_touch_demo.py.

fancy_touch_demo.FancyDemo::sub_th

Definition at line 91 of file fancy_touch_demo.py.

list fancy_touch_demo.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 58 of file fancy_touch_demo.py.

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

• fancy_touch_demo.py