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

List of all members.

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

Static Public Attributes

tuple action_running = mutex.mutex()
list bc_1
list bc_10
list bc_11
list bc_12
list bc_13
list bc_14
list bc_15
list bc_16
list bc_2
list bc_3
list bc_4
list bc_5
list bc_6
list bc_7
list bc_8
list bc_9
list bc_pre_zero
list bc_zero
list e_wr
list ext_ff
list ext_lf
list ext_mf
list ext_rf
list ext_th_1
list ext_th_2
list ff2mf_ok
list ff_ok
list flex_ff
list flex_lf
list flex_mf
list flex_rf
list flex_th_1
list flex_th_2
list lf_ok
list mf2rf_ok
list mf_ok
list n_wr
list ne_wr
list nw_wr
list pre_ff_ok = [ joint(joint_name = "THJ4", joint_target = 50) ]
list rf2lf_ok
list rf_ok
list s_wr
list se_wr
list shake_grasp_1
list shake_grasp_2
list start_pos_hand
list store_1_BioTac
list store_1_PST
list store_2_BioTac
list store_2_PST
list sw_wr
list w_wr
list zero_th
list zero_wr

Detailed Description

Definition at line 33 of file demo_rs.py.

Constructor & Destructor Documentation

def demo_rs.FancyDemo.__init__ (   self)

Definition at line 497 of file demo_rs.py.

Member Function Documentation

def demo_rs.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 544 of file demo_rs.py.

def demo_rs.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 563 of file demo_rs.py.

def demo_rs.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 519 of file demo_rs.py.

def demo_rs.FancyDemo.ff_pressed (   self,
  data 
) 
The first finger was pressed.

@param data: the pressure value (pdc)

Definition at line 581 of file demo_rs.py.

def demo_rs.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 536 of file demo_rs.py.

def demo_rs.FancyDemo.lf_pressed (   self,
  data 
) 
The little finger was pressed.

@param data: the pressure value (pdc)

Definition at line 832 of file demo_rs.py.

def demo_rs.FancyDemo.mf_pressed (   self,
  data 
) 
The middle finger was pressed.

@param data: the pressure value (pdc)

Definition at line 730 of file demo_rs.py.

def demo_rs.FancyDemo.rf_pressed (   self,
  data 
) 
The ring finger was pressed.

@param data: the pressure value (pdc)

Definition at line 794 of file demo_rs.py.

def demo_rs.FancyDemo.th_pressed (   self,
  data 
) 
The thumb was pressed.

@param data: the pressure value (pdc)

Definition at line 888 of file demo_rs.py.

Member Data Documentation

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

Definition at line 495 of file demo_rs.py.

list demo_rs.FancyDemo::bc_1 [static]
Initial value:
[ joint(joint_name = "FFJ0", joint_target = 137),
                 joint(joint_name = "FFJ3", joint_target = 7) ]

Definition at line 441 of file demo_rs.py.

list demo_rs.FancyDemo::bc_10 [static]
Initial value:
[ joint(joint_name = "FFJ0", joint_target = 137),
                  joint(joint_name = "FFJ3", joint_target = 60) ]

Definition at line 468 of file demo_rs.py.

list demo_rs.FancyDemo::bc_11 [static]
Initial value:
[ joint(joint_name = "FFJ0", joint_target = 137),
                  joint(joint_name = "FFJ3", joint_target = 31) ]

Definition at line 471 of file demo_rs.py.

list demo_rs.FancyDemo::bc_12 [static]
Initial value:
[ joint(joint_name = "FFJ0", joint_target = 137),
                  joint(joint_name = "FFJ3", joint_target = 58) ]

Definition at line 474 of file demo_rs.py.

list demo_rs.FancyDemo::bc_13 [static]
Initial value:
[ joint(joint_name = "FFJ0", joint_target = 66),
                  joint(joint_name = "FFJ3", joint_target = 58) ]

Definition at line 477 of file demo_rs.py.

list demo_rs.FancyDemo::bc_14 [static]
Initial value:
[ joint(joint_name = "MFJ3", joint_target = 64),
                  joint(joint_name = "FFJ4", joint_target = 20) ]

Definition at line 480 of file demo_rs.py.

list demo_rs.FancyDemo::bc_15 [static]
Initial value:
[ joint(joint_name = "FFJ0", joint_target = 81 ),
                  joint(joint_name = "FFJ4", joint_target = 20),
                  joint(joint_name = "FFJ3", joint_target = 50),
              joint(joint_name = "THJ4", joint_target = 55),
                  joint(joint_name = "THJ5", joint_target = 20) ]

Definition at line 483 of file demo_rs.py.

list demo_rs.FancyDemo::bc_16 [static]
Initial value:
[ joint(joint_name = "MFJ0", joint_target = 20),
                  joint(joint_name = "MFJ3", joint_target = 10),
                  joint(joint_name = "MFJ4", joint_target = 0) ]

Definition at line 489 of file demo_rs.py.

list demo_rs.FancyDemo::bc_2 [static]
Initial value:
[ joint(joint_name = "FFJ0", joint_target = 137),
                 joint(joint_name = "FFJ3", joint_target = 31) ]

Definition at line 444 of file demo_rs.py.

list demo_rs.FancyDemo::bc_3 [static]
Initial value:
[ joint(joint_name = "FFJ0", joint_target = 137),
                 joint(joint_name = "FFJ3", joint_target = 58) ]

Definition at line 447 of file demo_rs.py.

list demo_rs.FancyDemo::bc_4 [static]
Initial value:
[ joint(joint_name = "FFJ0", joint_target = 66),
                 joint(joint_name = "FFJ3", joint_target = 58) ]

Definition at line 450 of file demo_rs.py.

list demo_rs.FancyDemo::bc_5 [static]
Initial value:
[ joint(joint_name = "FFJ0", joint_target = 180),
                 joint(joint_name = "FFJ3", joint_target = 58) ]

Definition at line 453 of file demo_rs.py.

list demo_rs.FancyDemo::bc_6 [static]
Initial value:
[ joint(joint_name = "FFJ0", joint_target = 180),
                 joint(joint_name = "FFJ3", joint_target = 0) ]

Definition at line 456 of file demo_rs.py.

list demo_rs.FancyDemo::bc_7 [static]
Initial value:
[ joint(joint_name = "FFJ0", joint_target = 0),
                 joint(joint_name = "FFJ3", joint_target = 0) ]

Definition at line 459 of file demo_rs.py.

list demo_rs.FancyDemo::bc_8 [static]
Initial value:
[ joint(joint_name = "FFJ0", joint_target = 137),
                 joint(joint_name = "FFJ3", joint_target = 15) ]

Definition at line 462 of file demo_rs.py.

list demo_rs.FancyDemo::bc_9 [static]
Initial value:
[ joint(joint_name = "FFJ0", joint_target = 137),
                 joint(joint_name = "FFJ3", joint_target = 30) ]

Definition at line 465 of file demo_rs.py.

list demo_rs.FancyDemo::bc_pre_zero [static]
Initial value:
[ joint(joint_name = "FFJ0", joint_target = 13.6),
                        joint(joint_name = "FFJ3", joint_target = 7),
                        joint(joint_name = "FFJ4", joint_target = -0.4),
                        joint(joint_name = "MFJ0", joint_target = 51.1),
                        joint(joint_name = "MFJ3", joint_target = 33),
                        joint(joint_name = "MFJ4", joint_target = 21),
                        joint(joint_name = "RFJ0", joint_target = 50),
                        joint(joint_name = "RFJ3", joint_target = 18),
                        joint(joint_name = "RFJ4", joint_target = -21),
                        joint(joint_name = "LFJ0", joint_target = 30),
                        joint(joint_name = "LFJ3", joint_target = 0),
                        joint(joint_name = "LFJ4", joint_target = -24),
                        joint(joint_name = "LFJ5", joint_target = 7),         
                        joint(joint_name = "THJ1", joint_target = 15.2),
                        joint(joint_name = "THJ2", joint_target = 7.4),
                        joint(joint_name = "THJ3", joint_target = -4),
                        joint(joint_name = "THJ4", joint_target = 50),
                        joint(joint_name = "THJ5", joint_target = -16.8) ]

Definition at line 403 of file demo_rs.py.

list demo_rs.FancyDemo::bc_zero [static]
Initial value:
[ joint(joint_name = "FFJ0", joint_target = 13.6),
                    joint(joint_name = "FFJ3", joint_target = 7),
                    joint(joint_name = "FFJ4", joint_target = -0.4),
                    joint(joint_name = "MFJ0", joint_target = 51.1),
                    joint(joint_name = "MFJ3", joint_target = 32),
                    joint(joint_name = "MFJ4", joint_target = 21),
                    joint(joint_name = "RFJ0", joint_target = 50),
                    joint(joint_name = "RFJ3", joint_target = 18),
                    joint(joint_name = "RFJ4", joint_target = -21),
                    joint(joint_name = "LFJ0", joint_target = 30),
                    joint(joint_name = "LFJ3", joint_target = 0),
                    joint(joint_name = "LFJ4", joint_target = -24),
                    joint(joint_name = "LFJ5", joint_target = 7),             
                    joint(joint_name = "THJ1", joint_target = 17.2),
                    joint(joint_name = "THJ2", joint_target = 10.4),
                    joint(joint_name = "THJ3", joint_target = -4),
                    joint(joint_name = "THJ4", joint_target = 50),
                    joint(joint_name = "THJ5", joint_target = -13.6) ]

Definition at line 422 of file demo_rs.py.

list demo_rs.FancyDemo::e_wr [static]
Initial value:
[ joint(joint_name = "WRJ1", joint_target = 0),
             joint(joint_name = "WRJ2", joint_target = 8) ]

Definition at line 263 of file demo_rs.py.

list demo_rs.FancyDemo::ext_ff [static]
Initial value:
[ joint(joint_name = "FFJ0", joint_target = 0),
                   joint(joint_name = "FFJ3", joint_target = 0),
                   joint(joint_name = "FFJ4", joint_target = 0) ]

Definition at line 60 of file demo_rs.py.

list demo_rs.FancyDemo::ext_lf [static]
Initial value:
[ joint(joint_name = "LFJ0", joint_target = 0),
                   joint(joint_name = "LFJ3", joint_target = 0),
                   joint(joint_name = "LFJ4", joint_target = 0) ]

Definition at line 84 of file demo_rs.py.

list demo_rs.FancyDemo::ext_mf [static]
Initial value:
[ joint(joint_name = "MFJ0", joint_target = 0),
                   joint(joint_name = "MFJ3", joint_target = 0),
                   joint(joint_name = "MFJ4", joint_target = 0) ]

Definition at line 68 of file demo_rs.py.

list demo_rs.FancyDemo::ext_rf [static]
Initial value:
[ joint(joint_name = "RFJ0", joint_target = 0),
                   joint(joint_name = "RFJ3", joint_target = 0),
                   joint(joint_name = "RFJ4", joint_target = 0) ]

Definition at line 76 of file demo_rs.py.

list demo_rs.FancyDemo::ext_th_1 [static]
Initial value:
[ joint(joint_name = "THJ1", joint_target = 70),
                     joint(joint_name = "THJ2", joint_target = 15),
                     joint(joint_name = "THJ3", joint_target = 0),
                     joint(joint_name = "THJ4", joint_target = 70),
                     joint(joint_name = "THJ5", joint_target = 0) ]

Definition at line 100 of file demo_rs.py.

list demo_rs.FancyDemo::ext_th_2 [static]
Initial value:
[ joint(joint_name = "THJ1", joint_target = 0),
                     joint(joint_name = "THJ2", joint_target = 0),
                     joint(joint_name = "THJ3", joint_target = -12),
                     joint(joint_name = "THJ4", joint_target = 0),
                     joint(joint_name = "THJ5", joint_target = -50) ]

Definition at line 106 of file demo_rs.py.

list demo_rs.FancyDemo::ff2mf_ok [static]
Initial value:
[ joint(joint_name = "FFJ0", joint_target = 13.6),
                     joint(joint_name = "FFJ3", joint_target = 7),
                     joint(joint_name = "FFJ4", joint_target = -0.4),
                     joint(joint_name = "MFJ0", joint_target = 42),
                     joint(joint_name = "MFJ3", joint_target = 33),
                     joint(joint_name = "MFJ4", joint_target = -3),
                     joint(joint_name = "RFJ0", joint_target = 50),
                     joint(joint_name = "RFJ3", joint_target = 18),
                     joint(joint_name = "RFJ4", joint_target = 0.5),
                     joint(joint_name = "LFJ0", joint_target = 30),
                     joint(joint_name = "LFJ3", joint_target = 0),
                     joint(joint_name = "LFJ4", joint_target = -6),
                     joint(joint_name = "LFJ5", joint_target = 7),            
                     joint(joint_name = "THJ1", joint_target = 40),
                     joint(joint_name = "THJ2", joint_target = 12),
                     joint(joint_name = "THJ3", joint_target = -10),
                     joint(joint_name = "THJ4", joint_target = 50),
                     joint(joint_name = "THJ5", joint_target = 2) ]

Definition at line 140 of file demo_rs.py.

list demo_rs.FancyDemo::ff_ok [static]
Initial value:
[ joint(joint_name = "FFJ0", joint_target = 93),
                  joint(joint_name = "FFJ3", joint_target = 37),
                  joint(joint_name = "FFJ4", joint_target = -0.2),
                  joint(joint_name = "MFJ0", joint_target = 42),
                  joint(joint_name = "MFJ3", joint_target = 33),
                  joint(joint_name = "MFJ4", joint_target = -3),
                  joint(joint_name = "RFJ0", joint_target = 50),
                  joint(joint_name = "RFJ3", joint_target = 18),
                  joint(joint_name = "RFJ4", joint_target = 0.5),
                  joint(joint_name = "LFJ0", joint_target = 30),
                  joint(joint_name = "LFJ3", joint_target = 0),
                  joint(joint_name = "LFJ4", joint_target = -6),
                  joint(joint_name = "LFJ5", joint_target = 7),       
                  joint(joint_name = "THJ1", joint_target = 40),
                  joint(joint_name = "THJ2", joint_target = 12),
                  joint(joint_name = "THJ3", joint_target = -10),
                  joint(joint_name = "THJ4", joint_target = 50),
                  joint(joint_name = "THJ5", joint_target = 11) ]

Definition at line 121 of file demo_rs.py.

demo_rs.FancyDemo::fingers_pressed_functions

Definition at line 497 of file demo_rs.py.

list demo_rs.FancyDemo::flex_ff [static]
Initial value:
[ joint(joint_name = "FFJ0", joint_target = 180),
                        joint(joint_name = "FFJ3", joint_target = 90),
                        joint(joint_name = "FFJ4", joint_target = 0) ]

Definition at line 56 of file demo_rs.py.

list demo_rs.FancyDemo::flex_lf [static]
Initial value:
[ joint(joint_name = "LFJ0", joint_target = 180),
                        joint(joint_name = "LFJ3", joint_target = 90),
                        joint(joint_name = "LFJ4", joint_target = 0) ]

Definition at line 80 of file demo_rs.py.

list demo_rs.FancyDemo::flex_mf [static]
Initial value:
[ joint(joint_name = "MFJ0", joint_target = 180),
                        joint(joint_name = "MFJ3", joint_target = 90),
                        joint(joint_name = "MFJ4", joint_target = 0) ]

Definition at line 64 of file demo_rs.py.

list demo_rs.FancyDemo::flex_rf [static]
Initial value:
[ joint(joint_name = "RFJ0", joint_target = 180),
                        joint(joint_name = "RFJ3", joint_target = 90),
                        joint(joint_name = "RFJ4", joint_target = 0) ]

Definition at line 72 of file demo_rs.py.

list demo_rs.FancyDemo::flex_th_1 [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 = 70),
                          joint(joint_name = "THJ5", joint_target = 0) ]

Definition at line 88 of file demo_rs.py.

list demo_rs.FancyDemo::flex_th_2 [static]
Initial value:
[ joint(joint_name = "THJ1", joint_target = 70),
                          joint(joint_name = "THJ2", joint_target = 26),
                          joint(joint_name = "THJ3", joint_target = 0),
                          joint(joint_name = "THJ4", joint_target = 70),
                          joint(joint_name = "THJ5", joint_target = 50) ]

Definition at line 94 of file demo_rs.py.

demo_rs.FancyDemo::hand_publishers

Definition at line 497 of file demo_rs.py.

list demo_rs.FancyDemo::lf_ok [static]
Initial value:
[ joint(joint_name = "FFJ0", joint_target = 13.6),
              joint(joint_name = "FFJ3", joint_target = 7),
                  joint(joint_name = "FFJ4", joint_target = -0.4),
                  joint(joint_name = "MFJ0", joint_target = 15),
                  joint(joint_name = "MFJ3", joint_target = 3.7),
                  joint(joint_name = "MFJ4", joint_target = -1),
                  joint(joint_name = "RFJ0", joint_target = 74),
                  joint(joint_name = "RFJ3", joint_target = 6.5),
                  joint(joint_name = "RFJ4", joint_target = 0.5),
                  joint(joint_name = "LFJ0", joint_target = 100),
                  joint(joint_name = "LFJ3", joint_target = 9),
                  joint(joint_name = "LFJ4", joint_target = -7.6),
                  joint(joint_name = "LFJ5", joint_target = 37),              
                  joint(joint_name = "THJ1", joint_target = 40),
                  joint(joint_name = "THJ2", joint_target = 10),
                  joint(joint_name = "THJ3", joint_target = 10),
                  joint(joint_name = "THJ4", joint_target = 68),
                  joint(joint_name = "THJ5", joint_target = 25) ]

Definition at line 235 of file demo_rs.py.

list demo_rs.FancyDemo::mf2rf_ok [static]
Initial value:
[ joint(joint_name = "FFJ0", joint_target = 13.6),
                 joint(joint_name = "FFJ3", joint_target = 7),
                     joint(joint_name = "FFJ4", joint_target = -0.4),
                     joint(joint_name = "MFJ0", joint_target = 45),
                     joint(joint_name = "MFJ3", joint_target = 3.7),
                 joint(joint_name = "MFJ4", joint_target = -1),
                     joint(joint_name = "RFJ0", joint_target = 50),
                     joint(joint_name = "RFJ3", joint_target = 18),
                 joint(joint_name = "RFJ4", joint_target = 0.5),
                 joint(joint_name = "LFJ0", joint_target = 30),
                     joint(joint_name = "LFJ3", joint_target = 0),
                     joint(joint_name = "LFJ4", joint_target = -6),
                 joint(joint_name = "LFJ5", joint_target = 7),        
                     joint(joint_name = "THJ1", joint_target = 45),
                     joint(joint_name = "THJ2", joint_target = 8),
                     joint(joint_name = "THJ3", joint_target = -9.2),
                     joint(joint_name = "THJ4", joint_target = 64),
                     joint(joint_name = "THJ5", joint_target = 13.2) ]

Definition at line 178 of file demo_rs.py.

list demo_rs.FancyDemo::mf_ok [static]
Initial value:
[ joint(joint_name = "FFJ0", joint_target = 13.6),
                  joint(joint_name = "FFJ3", joint_target = 7),
                  joint(joint_name = "FFJ4", joint_target = -0.4),
                  joint(joint_name = "MFJ0", joint_target = 89),
                  joint(joint_name = "MFJ3", joint_target = 45),
                  joint(joint_name = "MFJ4", joint_target = 8),
                  joint(joint_name = "RFJ0", joint_target = 50),
                  joint(joint_name = "RFJ3", joint_target = 18),
                  joint(joint_name = "RFJ4", joint_target = 0.5),
                  joint(joint_name = "LFJ0", joint_target = 30),
                  joint(joint_name = "LFJ3", joint_target = 0),
                  joint(joint_name = "LFJ4", joint_target = -6),
                  joint(joint_name = "LFJ5", joint_target = 7),       
                  joint(joint_name = "THJ1", joint_target = 45),
                  joint(joint_name = "THJ2", joint_target = 7),
                  joint(joint_name = "THJ3", joint_target = -10),
                  joint(joint_name = "THJ4", joint_target = 66),
                  joint(joint_name = "THJ5", joint_target = 23) ]

Definition at line 159 of file demo_rs.py.

list demo_rs.FancyDemo::n_wr [static]
Initial value:
[ joint(joint_name = "WRJ1", joint_target = 15),
                 joint(joint_name = "WRJ2", joint_target = 0) ]

Definition at line 257 of file demo_rs.py.

list demo_rs.FancyDemo::ne_wr [static]
Initial value:
[ joint(joint_name = "WRJ1", joint_target = 15),
                  joint(joint_name = "WRJ2", joint_target = 8) ]

Definition at line 269 of file demo_rs.py.

list demo_rs.FancyDemo::nw_wr [static]
Initial value:
[ joint(joint_name = "WRJ1", joint_target = 15),
              joint(joint_name = "WRJ2", joint_target = -14) ]

Definition at line 272 of file demo_rs.py.

list demo_rs.FancyDemo::pre_ff_ok = [ joint(joint_name = "THJ4", joint_target = 50) ] [static]

Definition at line 119 of file demo_rs.py.

list demo_rs.FancyDemo::rf2lf_ok [static]
Initial value:
[ joint(joint_name = "FFJ0", joint_target = 13.6),
                 joint(joint_name = "FFJ3", joint_target = 7),
                     joint(joint_name = "FFJ4", joint_target = -0.4),
                     joint(joint_name = "MFJ0", joint_target = 45),
                     joint(joint_name = "MFJ3", joint_target = 3.7),
                     joint(joint_name = "MFJ4", joint_target = -1),
                     joint(joint_name = "RFJ0", joint_target = 74),
                     joint(joint_name = "RFJ3", joint_target = 6.5),
                     joint(joint_name = "RFJ4", joint_target = 0.5),
                     joint(joint_name = "LFJ0", joint_target = 30),
                     joint(joint_name = "LFJ3", joint_target = 0),
                     joint(joint_name = "LFJ4", joint_target = -6),
                     joint(joint_name = "LFJ5", joint_target = 7),            
                     joint(joint_name = "THJ1", joint_target = 42),
                     joint(joint_name = "THJ2", joint_target = 4.5),
                     joint(joint_name = "THJ3", joint_target = 7.7),
                     joint(joint_name = "THJ4", joint_target = 73),
                     joint(joint_name = "THJ5", joint_target = 21) ]

Definition at line 216 of file demo_rs.py.

list demo_rs.FancyDemo::rf_ok [static]
Initial value:
[ joint(joint_name = "FFJ0", joint_target = 13.6),
              joint(joint_name = "FFJ3", joint_target = 7),
                  joint(joint_name = "FFJ4", joint_target = -0.4),
                  joint(joint_name = "MFJ0", joint_target = 45),
                  joint(joint_name = "MFJ3", joint_target = 3.7),
                  joint(joint_name = "MFJ4", joint_target = -1),
                  joint(joint_name = "RFJ0", joint_target = 90),
                  joint(joint_name = "RFJ3", joint_target = 48),
                  joint(joint_name = "RFJ4", joint_target = -20),
                  joint(joint_name = "LFJ0", joint_target = 30),
                  joint(joint_name = "LFJ3", joint_target = 0),
                  joint(joint_name = "LFJ4", joint_target = -6),
                  joint(joint_name = "LFJ5", joint_target = 7),       
                  joint(joint_name = "THJ1", joint_target = 44),
                  joint(joint_name = "THJ2", joint_target = 8),
                  joint(joint_name = "THJ3", joint_target = 15),
                  joint(joint_name = "THJ4", joint_target = 70),
                  joint(joint_name = "THJ5", joint_target = 27) ]

Definition at line 197 of file demo_rs.py.

list demo_rs.FancyDemo::s_wr [static]
Initial value:
[ joint(joint_name = "WRJ1", joint_target = -20),
                 joint(joint_name = "WRJ2", joint_target = 0) ]

Definition at line 260 of file demo_rs.py.

list demo_rs.FancyDemo::se_wr [static]
Initial value:
[ joint(joint_name = "WRJ1", joint_target = -20),
                  joint(joint_name = "WRJ2", joint_target = 8) ]

Definition at line 278 of file demo_rs.py.

list demo_rs.FancyDemo::shake_grasp_1 [static]
Initial value:
[ joint(joint_name = "THJ1", joint_target = 0),
                              joint(joint_name = "THJ2", joint_target = 6),
                              joint(joint_name = "THJ3", joint_target = 10),
                              joint(joint_name = "THJ4", joint_target = 37),
                              joint(joint_name = "THJ5", joint_target = 9),
                              joint(joint_name = "FFJ0", joint_target = 21),
                              joint(joint_name = "FFJ3", joint_target = 26),
                              joint(joint_name = "FFJ4", joint_target = 0),
                              joint(joint_name = "MFJ0", joint_target = 18),
                              joint(joint_name = "MFJ3", joint_target = 24),
                              joint(joint_name = "MFJ4", joint_target = 0),
                              joint(joint_name = "RFJ0", joint_target = 30),
                              joint(joint_name = "RFJ3", joint_target = 16),
                              joint(joint_name = "RFJ4", joint_target = 0),
                              joint(joint_name = "LFJ0", joint_target = 30),
                              joint(joint_name = "LFJ3", joint_target = 0),
                              joint(joint_name = "LFJ4", joint_target = -10),
                              joint(joint_name = "LFJ5", joint_target = 10) ]

Definition at line 281 of file demo_rs.py.

list demo_rs.FancyDemo::shake_grasp_2 [static]
Initial value:
[ joint(joint_name = "THJ1", joint_target = 21),
                              joint(joint_name = "THJ2", joint_target = 12),
                      joint(joint_name = "THJ3", joint_target = 10),
                      joint(joint_name = "THJ4", joint_target = 42),
                              joint(joint_name = "THJ5", joint_target = 21),
                      joint(joint_name = "FFJ0", joint_target = 75),
                              joint(joint_name = "FFJ3", joint_target = 29),
                      joint(joint_name = "FFJ4", joint_target = 0),
                              joint(joint_name = "MFJ0", joint_target = 85),
                      joint(joint_name = "MFJ3", joint_target = 29),
                              joint(joint_name = "MFJ4", joint_target = 0),
                              joint(joint_name = "RFJ0", joint_target = 75),
                              joint(joint_name = "RFJ3", joint_target = 41),
                              joint(joint_name = "RFJ4", joint_target = 0),
                              joint(joint_name = "LFJ0", joint_target = 100),
                              joint(joint_name = "LFJ3", joint_target = 41),
                              joint(joint_name = "LFJ4", joint_target = 0),
                              joint(joint_name = "LFJ5", joint_target = 0) ]

Definition at line 300 of file demo_rs.py.

list demo_rs.FancyDemo::start_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 = 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 35 of file demo_rs.py.

list demo_rs.FancyDemo::store_1_BioTac [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 = 30),
                    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 = 0) ]

Definition at line 361 of file demo_rs.py.

list demo_rs.FancyDemo::store_1_PST [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 = 60),
                    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 = 0) ]

Definition at line 319 of file demo_rs.py.

list demo_rs.FancyDemo::store_2_BioTac [static]
Initial value:
[ joint(joint_name = "THJ1", joint_target = 20),
                    joint(joint_name = "THJ2", joint_target = 36),
                    joint(joint_name = "THJ3", joint_target = 0),
                    joint(joint_name = "THJ4", joint_target = 30),
                    joint(joint_name = "THJ5", joint_target = -3),
                    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 382 of file demo_rs.py.

list demo_rs.FancyDemo::store_2_PST [static]
Initial value:
[ joint(joint_name = "THJ1", joint_target = 50),
                    joint(joint_name = "THJ2", joint_target = 12),
                    joint(joint_name = "THJ3", joint_target = 0),
                    joint(joint_name = "THJ4", joint_target = 60),
                    joint(joint_name = "THJ5", joint_target = 27),
                    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 340 of file demo_rs.py.

list demo_rs.FancyDemo::sw_wr [static]
Initial value:
[ joint(joint_name = "WRJ1", joint_target = -20),
                  joint(joint_name = "WRJ2", joint_target = -14) ]

Definition at line 275 of file demo_rs.py.

list demo_rs.FancyDemo::w_wr [static]
Initial value:
[ joint(joint_name = "WRJ1", joint_target = 0),
             joint(joint_name = "WRJ2", joint_target = -14) ]

Definition at line 266 of file demo_rs.py.

list demo_rs.FancyDemo::zero_th [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) ]

Definition at line 112 of file demo_rs.py.

list demo_rs.FancyDemo::zero_wr [static]
Initial value:
[ joint(joint_name = "WRJ1", joint_target = 0),
                        joint(joint_name = "WRJ2", joint_target = 0) ]

Definition at line 254 of file demo_rs.py.

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

sr_ethercat_hand_config
Author(s): Ugo Cupcic, Toni Oliver
autogenerated on Fri Aug 28 2015 13:11:54