sr_hand.shadowhand_commander.Commander Class Reference

List of all members.

Public Member Functions
def	__init__
def	get_hand_effort
def	get_hand_position
def	get_hand_velocity
def	get_tactile_state
def	get_tactile_type
def	move_hand
Public Attributes
	grasp_interpolators
	hand
	hand_interpolation_period
	mutex
Private Member Functions
def	_move_hand_interpolation
def	_prune_interpolators

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Detailed Description

Definition at line 53 of file shadowhand_commander.py.

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Constructor & Destructor Documentation

def sr_hand.shadowhand_commander.Commander.__init__

(

self

)

Definition at line 54 of file shadowhand_commander.py.

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Member Function Documentation

def sr_hand.shadowhand_commander.Commander._move_hand_interpolation	(		self,
			joints,
			interpolation_time = 1.0
	)		[private]

Remove the coinciding joints from the currently running interpolators.
It actually removes the joints from the 'grasp_to' list of the interpolator.

@param joints - Dictionary of joint names in the keys and angles in
degrees in the values.
@param interpolation_time - A float. Interpolation time in seconds.

Definition at line 112 of file shadowhand_commander.py.

def sr_hand.shadowhand_commander.Commander._prune_interpolators	(		self,
			joints
	)		[private]

Remove the coinciding joints from the currently running interpolators.
It actually removes the joints from the 'grasp_to' list of the interpolator.

@param joints - Dictionary of joint names in the keys and angles in
degrees in the values.

Definition at line 154 of file shadowhand_commander.py.

def sr_hand.shadowhand_commander.Commander.get_hand_effort

(

self

)

Returns a dictionary with the effort of each joint. Currently in ADC units, as no calibration is performed on the strain gauges.

Definition at line 181 of file shadowhand_commander.py.

def sr_hand.shadowhand_commander.Commander.get_hand_position

(

self

)

Returns a dictionary with the position of each joint in degrees.

Definition at line 169 of file shadowhand_commander.py.

def sr_hand.shadowhand_commander.Commander.get_hand_velocity

(

self

)

Returns a dictionary with the velocity of each joint in degrees/s.

Definition at line 175 of file shadowhand_commander.py.

def sr_hand.shadowhand_commander.Commander.get_tactile_state

(

self

)

Returns an object containing tactile data. The structure of the data is different for every tactile_type .

Definition at line 193 of file shadowhand_commander.py.

def sr_hand.shadowhand_commander.Commander.get_tactile_type

(

self

)

Returns a string indicating the type of tactile sensors present. Possible values are: PST, biotac, UBI0 .

Definition at line 187 of file shadowhand_commander.py.

def sr_hand.shadowhand_commander.Commander.move_hand	(		self,
			command
	)

Move the Shadow Hand.

This call is non blocking. It will return before the motion has finished.

If called with interpolation time of 0.0 the joints will move to the target position
at maximum velocity (i.e. the max. vel. allowed by the position controller for that joint)

If called with interpolation time greater than self.hand_interpolation_period,
a separate thread will deal with the interpolation time and will keep 
sending targets to the hand until the last target is sent.

If move_hand() is called again before the previous movements have finished,
the new call will override only the conciding joints. The others will keep moving
to their previous targets at their previous velocity.

@param command - Dictionary of joint names in the keys and angles in
degrees in the values. The key interpolation_time gives the time in seconds that 
the movement will last.

Definition at line 72 of file shadowhand_commander.py.

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Member Data Documentation

sr_hand::shadowhand_commander.Commander::grasp_interpolators

Definition at line 54 of file shadowhand_commander.py.

sr_hand::shadowhand_commander.Commander::hand

Definition at line 54 of file shadowhand_commander.py.

sr_hand::shadowhand_commander.Commander::hand_interpolation_period

Definition at line 54 of file shadowhand_commander.py.

sr_hand::shadowhand_commander.Commander::mutex

Definition at line 54 of file shadowhand_commander.py.

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

• shadowhand_commander.py