Definition at line 53 of file shadowhand_commander.py.
◆ __init__()
| def sr_hand.shadowhand_commander.Commander.__init__ |
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◆ _move_hand_interpolation()
| def sr_hand.shadowhand_commander.Commander._move_hand_interpolation |
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self, |
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joints, |
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interpolation_time = 1.0 |
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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 116 of file shadowhand_commander.py.
◆ _prune_interpolators()
| def sr_hand.shadowhand_commander.Commander._prune_interpolators |
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self, |
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joints |
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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 159 of file shadowhand_commander.py.
◆ get_hand_effort()
| def sr_hand.shadowhand_commander.Commander.get_hand_effort |
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self | ) |
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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 188 of file shadowhand_commander.py.
◆ get_hand_position()
| def sr_hand.shadowhand_commander.Commander.get_hand_position |
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self | ) |
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◆ get_hand_velocity()
| def sr_hand.shadowhand_commander.Commander.get_hand_velocity |
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◆ get_tactile_state()
| def sr_hand.shadowhand_commander.Commander.get_tactile_state |
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Returns an object containing tactile data. The structure of the data is different for every tactile_type .
Definition at line 201 of file shadowhand_commander.py.
◆ get_tactile_type()
| def sr_hand.shadowhand_commander.Commander.get_tactile_type |
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self | ) |
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Returns a string indicating the type of tactile sensors present. Possible values are: PST, biotac, UBI0 .
Definition at line 195 of file shadowhand_commander.py.
◆ move_hand()
| def sr_hand.shadowhand_commander.Commander.move_hand |
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self, |
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command |
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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 76 of file shadowhand_commander.py.
◆ grasp_interpolators
| sr_hand.shadowhand_commander.Commander.grasp_interpolators |
◆ hand
| sr_hand.shadowhand_commander.Commander.hand |
◆ hand_interpolation_period
| sr_hand.shadowhand_commander.Commander.hand_interpolation_period |
◆ mutex
| sr_hand.shadowhand_commander.Commander.mutex |
The documentation for this class was generated from the following file:
