Public Member Functions
def	__init__
def	activate_etherCAT_hand
def	callback
def	callback_arm
def	callback_ethercat_states
def	callVisualisationService
def	check_CAN_hand_presence
def	check_etherCAT_hand_presence
def	check_gazebo_hand_presence
def	check_hand_type
def	create_grasp_interpoler
def	get_tactile_state
def	get_tactile_type
def	has_arm
def	init_actual_joints
def	joint_states_callback
def	read_all_current_arm_positions
def	read_all_current_arm_targets
def	read_all_current_efforts
def	read_all_current_positions
def	read_all_current_targets
def	read_all_current_velocities
def	record_step_to_file
def	resend_targets
def	save_hand_position_to_file
def	sendupdate
def	sendupdate_arm
def	sendupdate_arm_from_dict
def	sendupdate_from_dict
def	set_sendupdate_topic
def	set_shadowhand_data_topic
def	valueof
Public Attributes
	allJoints
	armJoints
	cyberglove_pub
	cyberglove_sub
	cybergrasp_pub
	dict_arm_pos
	dict_arm_tar
	dict_ethercat_joints
	dict_pos
	dict_tar
	eth_publishers
	eth_subscribers
	grasp_interpoler
	grasp_parser
	EtherCAT hand.
	hand_effort
	hand_type
	hand_velocity
	handJoints
	hasarm
	isFirstMessage
	isFirstMessageArm
	isReady
	joint_states_listener
	joint_states_lock
	lastArmMsg
	lastMsg
	liste
	pub
	pub_arm
	rootPath
	sendupdate_lock
	sub
	sub_arm
	tactile_receiver
	topic_ending

Detailed Description

This is a python library used to easily access the shadow hand ROS interface.

Definition at line 44 of file shadowhand_ros.py.

Constructor & Destructor Documentation

def sr_hand.shadowhand_ros.ShadowHand_ROS.__init__ ( self )

Builds the library, creates the communication node in ROS and
initializes the hand publisher and subscriber to the default
values of shadowhand_data and sendupdate

Definition at line 48 of file shadowhand_ros.py.

Member Function Documentation

def sr_hand.shadowhand_ros.ShadowHand_ROS.activate_etherCAT_hand ( self )

At the moment we just try to use the mixed position velocity controllers

Definition at line 479 of file shadowhand_ros.py.

def sr_hand.shadowhand_ros.ShadowHand_ROS.callback	(	self,
		data
	)

@param data: The ROS message received which called the callback
If the message is the first received, initializes the dictionnaries
Else, it updates the lastMsg

Definition at line 175 of file shadowhand_ros.py.

def sr_hand.shadowhand_ros.ShadowHand_ROS.callback_arm	(	self,
		data
	)

@param data: The ROS message received which called the callback
If the message is the first received, initializes the dictionnaries
Else, it updates the lastMsg

Definition at line 190 of file shadowhand_ros.py.

def sr_hand.shadowhand_ros.ShadowHand_ROS.callback_ethercat_states	(	self,
		data,
		jointName
	)

@param data: The ROS message received which called the callback
If the message is the first received, initializes the dictionnaries
Else, it updates the lastMsg
@param joint: a Joint object that contains the name of the joint that we receive data from

Definition at line 144 of file shadowhand_ros.py.

def sr_hand.shadowhand_ros.ShadowHand_ROS.callVisualisationService	(	self,
		callList = `0`,
		reset = `0`
	)

@param callList: dictionnary mapping joint names to information that should be displayed
@param reset: flag used to tell if the parameters should be replaced by the new ones or just added to the previous ones
Calls a ROS service to display various information in Rviz

Definition at line 436 of file shadowhand_ros.py.

def sr_hand.shadowhand_ros.ShadowHand_ROS.check_CAN_hand_presence ( self )

@return : true if the CAN hand is detected

Definition at line 223 of file shadowhand_ros.py.

def sr_hand.shadowhand_ros.ShadowHand_ROS.check_etherCAT_hand_presence ( self )

Only used to check if a real etherCAT hand is detected in the system
check if something is being published to this topic, otherwise
return false
Bear in mind that the gazebo hand also publishes the joint_states topic,
so we need to check for the gazebo hand first

Definition at line 448 of file shadowhand_ros.py.

def sr_hand.shadowhand_ros.ShadowHand_ROS.check_gazebo_hand_presence ( self )

Only used to check if a Gazebo simulated (etherCAT protocol) hand is detected in the system
check if something is being published to this topic, otherwise
return false

Definition at line 465 of file shadowhand_ros.py.

def sr_hand.shadowhand_ros.ShadowHand_ROS.check_hand_type ( self )

@return : true if some hand is detected

Definition at line 211 of file shadowhand_ros.py.

def sr_hand.shadowhand_ros.ShadowHand_ROS.create_grasp_interpoler	(	self,
		current_step,
		next_step
	)

Definition at line 141 of file shadowhand_ros.py.

def sr_hand.shadowhand_ros.ShadowHand_ROS.get_tactile_state ( self )

Definition at line 535 of file shadowhand_ros.py.

def sr_hand.shadowhand_ros.ShadowHand_ROS.get_tactile_type ( self )

Definition at line 532 of file shadowhand_ros.py.

def sr_hand.shadowhand_ros.ShadowHand_ROS.has_arm ( self )

@return : True if an arm is detected on the roscore

Definition at line 332 of file shadowhand_ros.py.

def sr_hand.shadowhand_ros.ShadowHand_ROS.init_actual_joints ( self )

Initializes the library with just the fingers actually connected

Definition at line 202 of file shadowhand_ros.py.

def sr_hand.shadowhand_ros.ShadowHand_ROS.joint_states_callback	(	self,
		joint_state
	)

The callback function for the topic joint_states.
It will store the received joint velocity and effort information in two dictionaries
Velocity will be converted to degrees/s.
Effort units are kept as they are (currently ADC units, as no calibration is performed on the strain gauges)

@param joint_state: the message containing the joints data.

Definition at line 512 of file shadowhand_ros.py.

def sr_hand.shadowhand_ros.ShadowHand_ROS.read_all_current_arm_positions ( self )

@return: dictionnary mapping joint names to actual positions
Read all the positions in the lastMsg

Definition at line 411 of file shadowhand_ros.py.

def sr_hand.shadowhand_ros.ShadowHand_ROS.read_all_current_arm_targets ( self )

@return: dictionnary mapping joint names to actual targets
Read all the targets in the lastMsg

Definition at line 420 of file shadowhand_ros.py.

def sr_hand.shadowhand_ros.ShadowHand_ROS.read_all_current_efforts ( self )

@return: dictionary mapping joint names to current efforts

Definition at line 404 of file shadowhand_ros.py.

def sr_hand.shadowhand_ros.ShadowHand_ROS.read_all_current_positions ( self )

@return: dictionnary mapping joint names to actual positions
Read all the positions in the lastMsg

Definition at line 377 of file shadowhand_ros.py.

def sr_hand.shadowhand_ros.ShadowHand_ROS.read_all_current_targets ( self )

@return: dictionnary mapping joint names to current targets
Read all the targets in the lastMsg

Definition at line 388 of file shadowhand_ros.py.

def sr_hand.shadowhand_ros.ShadowHand_ROS.read_all_current_velocities ( self )

@return: dictionary mapping joint names to current velocities

Definition at line 397 of file shadowhand_ros.py.

def sr_hand.shadowhand_ros.ShadowHand_ROS.record_step_to_file	(	self,
		filename,
		grasp_as_xml
	)

@param filename: name (or path) of the file to save to
@param grasp_as_xml: xml-formatted grasp
Write the grasp at the end of the file, creates the file if does not exist

Definition at line 348 of file shadowhand_ros.py.

def sr_hand.shadowhand_ros.ShadowHand_ROS.resend_targets ( self )

Resend the targets read in the lastMsg to the hand

Definition at line 429 of file shadowhand_ros.py.

def sr_hand.shadowhand_ros.ShadowHand_ROS.save_hand_position_to_file	(	self,
		filename
	)

Definition at line 371 of file shadowhand_ros.py.

def sr_hand.shadowhand_ros.ShadowHand_ROS.sendupdate	(	self,
		jointName,
		angle = `0`
	)

@param jointName: Name of the joint to update
@param angle: Target of the joint, 0 if not set
Sends a new target for the specified joint

Definition at line 278 of file shadowhand_ros.py.

def sr_hand.shadowhand_ros.ShadowHand_ROS.sendupdate_arm	(	self,
		jointName,
		angle = `0`
	)

@param jointName: Name of the joint to update
@param angle: Target of the joint, 0 if not set
Sends a new target for the specified joint

Definition at line 310 of file shadowhand_ros.py.

def sr_hand.shadowhand_ros.ShadowHand_ROS.sendupdate_arm_from_dict	(	self,
		dicti
	)

@param dicti: Dictionnary containing all the targets to send, mapping the name of the joint to the value of its target
Sends new targets to the hand from a dictionnary

Definition at line 300 of file shadowhand_ros.py.

def sr_hand.shadowhand_ros.ShadowHand_ROS.sendupdate_from_dict	(	self,
		dicti
	)

@param dicti: Dictionnary containing all the targets to send, mapping the name of the joint to the value of its target
Sends new targets to the hand from a dictionnary

Definition at line 253 of file shadowhand_ros.py.

def sr_hand.shadowhand_ros.ShadowHand_ROS.set_sendupdate_topic	(	self,
		topic
	)

@param topic: The new topic to be set as the hand subscribing topic
Set the library to publish to a new topic

Definition at line 245 of file shadowhand_ros.py.

def sr_hand.shadowhand_ros.ShadowHand_ROS.set_shadowhand_data_topic	(	self,
		topic
	)

@param topic: The new topic to be set as the hand publishing topic
Set the library to listen to a new topic

Definition at line 237 of file shadowhand_ros.py.

def sr_hand.shadowhand_ros.ShadowHand_ROS.valueof	(	self,
		jointName
	)

@param jointName: Name of the joint to read the value
@return: 'NaN' if the value is not correct, the actual position of the joint else

Definition at line 319 of file shadowhand_ros.py.

Member Data Documentation

sr_hand::shadowhand_ros.ShadowHand_ROS::allJoints

Definition at line 52 of file shadowhand_ros.py.

sr_hand::shadowhand_ros.ShadowHand_ROS::armJoints

Definition at line 52 of file shadowhand_ros.py.

sr_hand::shadowhand_ros.ShadowHand_ROS::cyberglove_pub

Definition at line 52 of file shadowhand_ros.py.

sr_hand::shadowhand_ros.ShadowHand_ROS::cyberglove_sub

Definition at line 52 of file shadowhand_ros.py.

sr_hand::shadowhand_ros.ShadowHand_ROS::cybergrasp_pub

Definition at line 52 of file shadowhand_ros.py.

sr_hand::shadowhand_ros.ShadowHand_ROS::dict_arm_pos

Definition at line 52 of file shadowhand_ros.py.

sr_hand::shadowhand_ros.ShadowHand_ROS::dict_arm_tar

Definition at line 52 of file shadowhand_ros.py.

sr_hand::shadowhand_ros.ShadowHand_ROS::dict_ethercat_joints

Definition at line 52 of file shadowhand_ros.py.

sr_hand::shadowhand_ros.ShadowHand_ROS::dict_pos

Definition at line 52 of file shadowhand_ros.py.

sr_hand::shadowhand_ros.ShadowHand_ROS::dict_tar

Definition at line 52 of file shadowhand_ros.py.

sr_hand::shadowhand_ros.ShadowHand_ROS::eth_publishers

Definition at line 52 of file shadowhand_ros.py.

sr_hand::shadowhand_ros.ShadowHand_ROS::eth_subscribers

Definition at line 52 of file shadowhand_ros.py.

sr_hand::shadowhand_ros.ShadowHand_ROS::grasp_interpoler

Definition at line 55 of file shadowhand_ros.py.

sr_hand::shadowhand_ros.ShadowHand_ROS::grasp_parser

EtherCAT hand.

Grasps

Definition at line 55 of file shadowhand_ros.py.

sr_hand::shadowhand_ros.ShadowHand_ROS::hand_effort

Definition at line 55 of file shadowhand_ros.py.

sr_hand::shadowhand_ros.ShadowHand_ROS::hand_type

Definition at line 55 of file shadowhand_ros.py.

sr_hand::shadowhand_ros.ShadowHand_ROS::hand_velocity

Definition at line 55 of file shadowhand_ros.py.

sr_hand::shadowhand_ros.ShadowHand_ROS::handJoints

Definition at line 52 of file shadowhand_ros.py.

sr_hand::shadowhand_ros.ShadowHand_ROS::hasarm

Definition at line 52 of file shadowhand_ros.py.

sr_hand::shadowhand_ros.ShadowHand_ROS::isFirstMessage

Definition at line 52 of file shadowhand_ros.py.

sr_hand::shadowhand_ros.ShadowHand_ROS::isFirstMessageArm

Definition at line 52 of file shadowhand_ros.py.

sr_hand::shadowhand_ros.ShadowHand_ROS::isReady

Definition at line 52 of file shadowhand_ros.py.

sr_hand::shadowhand_ros.ShadowHand_ROS::joint_states_listener

Definition at line 55 of file shadowhand_ros.py.

sr_hand::shadowhand_ros.ShadowHand_ROS::joint_states_lock

Definition at line 52 of file shadowhand_ros.py.

sr_hand::shadowhand_ros.ShadowHand_ROS::lastArmMsg

Definition at line 52 of file shadowhand_ros.py.

sr_hand::shadowhand_ros.ShadowHand_ROS::lastMsg

Definition at line 52 of file shadowhand_ros.py.

sr_hand::shadowhand_ros.ShadowHand_ROS::liste

Definition at line 52 of file shadowhand_ros.py.

sr_hand::shadowhand_ros.ShadowHand_ROS::pub

Definition at line 55 of file shadowhand_ros.py.

sr_hand::shadowhand_ros.ShadowHand_ROS::pub_arm

Definition at line 55 of file shadowhand_ros.py.

sr_hand::shadowhand_ros.ShadowHand_ROS::rootPath

Definition at line 55 of file shadowhand_ros.py.

sr_hand::shadowhand_ros.ShadowHand_ROS::sendupdate_lock

Definition at line 52 of file shadowhand_ros.py.

sr_hand::shadowhand_ros.ShadowHand_ROS::sub

Definition at line 55 of file shadowhand_ros.py.

sr_hand::shadowhand_ros.ShadowHand_ROS::sub_arm

Definition at line 55 of file shadowhand_ros.py.

sr_hand::shadowhand_ros.ShadowHand_ROS::tactile_receiver

Definition at line 55 of file shadowhand_ros.py.

sr_hand::shadowhand_ros.ShadowHand_ROS::topic_ending

Definition at line 52 of file shadowhand_ros.py.

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

shadowhand_ros.py

Public Member Functions

Public Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation