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	has_arm
def	init_actual_joints
def	read_all_current_arm_positions
def	read_all_current_arm_targets
def	read_all_current_positions
def	read_all_current_targets
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.
	handJoints
	hasarm
	isFirstMessage
	isFirstMessageArm
	isReady
	lastArmMsg
	lastMsg
	liste
	pub
	pub_arm
	rootPath
	sendupdate_lock
	sub
	sub_arm
	topic_ending

Detailed Description

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

Definition at line 40 of file shadowhand_ros.py.

Constructor & Destructor Documentation

def 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 44 of file shadowhand_ros.py.

Member Function Documentation

def shadowhand_ros.ShadowHand_ROS.activate_etherCAT_hand ( self )

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

Definition at line 440 of file shadowhand_ros.py.

def 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 158 of file shadowhand_ros.py.

def 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 173 of file shadowhand_ros.py.

def 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 126 of file shadowhand_ros.py.

def 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 401 of file shadowhand_ros.py.

def shadowhand_ros.ShadowHand_ROS.check_CAN_hand_presence ( self )

@return : true if the CAN hand is detected

Definition at line 206 of file shadowhand_ros.py.

def 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

Definition at line 413 of file shadowhand_ros.py.

def 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 427 of file shadowhand_ros.py.

def shadowhand_ros.ShadowHand_ROS.check_hand_type ( self )

@return : true if some hand is detected

Definition at line 194 of file shadowhand_ros.py.

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

Definition at line 123 of file shadowhand_ros.py.

def shadowhand_ros.ShadowHand_ROS.has_arm ( self )

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

Definition at line 311 of file shadowhand_ros.py.

def shadowhand_ros.ShadowHand_ROS.init_actual_joints ( self )

Initializes the library with just the fingers actually connected

Definition at line 185 of file shadowhand_ros.py.

def 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 376 of file shadowhand_ros.py.

def 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 385 of file shadowhand_ros.py.

def 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 356 of file shadowhand_ros.py.

def 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 367 of file shadowhand_ros.py.

def 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 327 of file shadowhand_ros.py.

def shadowhand_ros.ShadowHand_ROS.resend_targets ( self )

Resend the targets read in the lastMsg to the hand

Definition at line 394 of file shadowhand_ros.py.

def shadowhand_ros.ShadowHand_ROS.save_hand_position_to_file	(	self,
		filename
	)

Definition at line 350 of file shadowhand_ros.py.

def 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 257 of file shadowhand_ros.py.

def 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 289 of file shadowhand_ros.py.

def 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 279 of file shadowhand_ros.py.

def 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 236 of file shadowhand_ros.py.

def 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 228 of file shadowhand_ros.py.

def 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 220 of file shadowhand_ros.py.

def 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 298 of file shadowhand_ros.py.

Member Data Documentation

shadowhand_ros.ShadowHand_ROS::allJoints

Definition at line 48 of file shadowhand_ros.py.

shadowhand_ros.ShadowHand_ROS::armJoints

Definition at line 48 of file shadowhand_ros.py.

shadowhand_ros.ShadowHand_ROS::cyberglove_pub

Definition at line 48 of file shadowhand_ros.py.

shadowhand_ros.ShadowHand_ROS::cyberglove_sub

Definition at line 48 of file shadowhand_ros.py.

shadowhand_ros.ShadowHand_ROS::cybergrasp_pub

Definition at line 48 of file shadowhand_ros.py.

shadowhand_ros.ShadowHand_ROS::dict_arm_pos

Definition at line 48 of file shadowhand_ros.py.

shadowhand_ros.ShadowHand_ROS::dict_arm_tar

Definition at line 48 of file shadowhand_ros.py.

shadowhand_ros.ShadowHand_ROS::dict_ethercat_joints

Definition at line 48 of file shadowhand_ros.py.

shadowhand_ros.ShadowHand_ROS::dict_pos

Definition at line 48 of file shadowhand_ros.py.

shadowhand_ros.ShadowHand_ROS::dict_tar

Definition at line 48 of file shadowhand_ros.py.

shadowhand_ros.ShadowHand_ROS::eth_publishers

Definition at line 48 of file shadowhand_ros.py.

shadowhand_ros.ShadowHand_ROS::eth_subscribers

Definition at line 48 of file shadowhand_ros.py.

shadowhand_ros.ShadowHand_ROS::grasp_interpoler

Definition at line 51 of file shadowhand_ros.py.

shadowhand_ros.ShadowHand_ROS::grasp_parser

EtherCAT hand.

Grasps

Definition at line 51 of file shadowhand_ros.py.

shadowhand_ros.ShadowHand_ROS::handJoints

Definition at line 48 of file shadowhand_ros.py.

shadowhand_ros.ShadowHand_ROS::hasarm

Definition at line 48 of file shadowhand_ros.py.

shadowhand_ros.ShadowHand_ROS::isFirstMessage

Definition at line 48 of file shadowhand_ros.py.

shadowhand_ros.ShadowHand_ROS::isFirstMessageArm

Definition at line 48 of file shadowhand_ros.py.

shadowhand_ros.ShadowHand_ROS::isReady

Definition at line 48 of file shadowhand_ros.py.

shadowhand_ros.ShadowHand_ROS::lastArmMsg

Definition at line 48 of file shadowhand_ros.py.

shadowhand_ros.ShadowHand_ROS::lastMsg

Definition at line 48 of file shadowhand_ros.py.

shadowhand_ros.ShadowHand_ROS::liste

Definition at line 48 of file shadowhand_ros.py.

shadowhand_ros.ShadowHand_ROS::pub

Definition at line 51 of file shadowhand_ros.py.

shadowhand_ros.ShadowHand_ROS::pub_arm

Definition at line 51 of file shadowhand_ros.py.

shadowhand_ros.ShadowHand_ROS::rootPath

Definition at line 51 of file shadowhand_ros.py.

shadowhand_ros.ShadowHand_ROS::sendupdate_lock

Definition at line 48 of file shadowhand_ros.py.

shadowhand_ros.ShadowHand_ROS::sub

Definition at line 51 of file shadowhand_ros.py.

shadowhand_ros.ShadowHand_ROS::sub_arm

Definition at line 51 of file shadowhand_ros.py.

shadowhand_ros.ShadowHand_ROS::topic_ending

Definition at line 48 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