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 | |
| sub_biotacs | |
| sub_psts | |
Static Public Attributes | |
| tuple | action_running = mutex.mutex() |
| tuple | arm_publisher = rospy.Publisher('/sr_arm/sendupdate', sendupdate) |
| string | controller_type = "_position_controller" |
| dictionary | extended_pos_hand |
| list | start_pos_arm |
| dictionary | start_pos_hand |
| dictionary | thumb_up_pos_hand |
Definition at line 42 of file fancy_touch_demo.py.
| def fancy_touch_demo.FancyDemo.__init__ | ( | self | ) |
Definition at line 129 of file fancy_touch_demo.py.
| def fancy_touch_demo.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 178 of file fancy_touch_demo.py.
| def fancy_touch_demo.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 197 of file fancy_touch_demo.py.
Creates a dictionnary of publishers to send the targets to the controllers on /sh_??j?_position_controller/command
Definition at line 153 of file fancy_touch_demo.py.
| def fancy_touch_demo.FancyDemo.ff_pressed | ( | self, | |
| data | |||
| ) |
The first finger was pressed. If no action is currently running, we set the ShoulderJRotate to a negative value proportional to the pressure received. @param data: the pressure value (pdc)
Definition at line 215 of file fancy_touch_demo.py.
| def fancy_touch_demo.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 170 of file fancy_touch_demo.py.
| def fancy_touch_demo.FancyDemo.lf_pressed | ( | self, | |
| data | |||
| ) |
The little finger was pressed. If no action is currently running, we reset the arm and hand to their starting position @param data: the pressure value (pdc)
Definition at line 325 of file fancy_touch_demo.py.
| def fancy_touch_demo.FancyDemo.mf_pressed | ( | self, | |
| data | |||
| ) |
The middle finger was pressed. If no action is currently running, we move the arm angles to a positive value proportional to the pressure received. @param data: the pressure value (pdc)
Definition at line 260 of file fancy_touch_demo.py.
| def fancy_touch_demo.FancyDemo.rf_pressed | ( | self, | |
| data | |||
| ) |
The ring finger was pressed. If no action is currently running, we make a beep but don't do anything else. @param data: the pressure value (pdc)
Definition at line 303 of file fancy_touch_demo.py.
| def fancy_touch_demo.FancyDemo.th_pressed | ( | self, | |
| data | |||
| ) |
The thumb was pressed. If no action is currently running, we send the thumb_up targets to the hand. @param data: the pressure value (pdc)
Definition at line 355 of file fancy_touch_demo.py.
tuple fancy_touch_demo.FancyDemo::action_running = mutex.mutex() [static] |
Definition at line 127 of file fancy_touch_demo.py.
tuple fancy_touch_demo.FancyDemo::arm_publisher = rospy.Publisher('/sr_arm/sendupdate', sendupdate) [static] |
Definition at line 123 of file fancy_touch_demo.py.
string fancy_touch_demo.FancyDemo::controller_type = "_position_controller" [static] |
Definition at line 46 of file fancy_touch_demo.py.
dictionary fancy_touch_demo.FancyDemo::extended_pos_hand [static] |
{ "THJ1":0,
"THJ2":0,
"THJ3":0,
"THJ4":0,
"THJ5":-6,
"FFJ0":0,
"FFJ3":0,
"FFJ4":0,
"MFJ0":0,
"MFJ3":0,
"MFJ4":0,
"RFJ0":0,
"RFJ3":0,
"RFJ4":0,
"LFJ0":0,
"LFJ3":0,
"LFJ4":0,
"LFJ5":0,
"WRJ1":0,
"WRJ2":0 }
Definition at line 70 of file fancy_touch_demo.py.
Definition at line 129 of file fancy_touch_demo.py.
Definition at line 129 of file fancy_touch_demo.py.
list fancy_touch_demo.FancyDemo::start_pos_arm [static] |
dictionary fancy_touch_demo.FancyDemo::start_pos_hand [static] |
{ "THJ1":21,
"THJ2":25,
"THJ3":0,
"THJ4":50,
"THJ5":-6,
"FFJ0":180,
"FFJ3":90,
"FFJ4":0,
"MFJ0":180,
"MFJ3":90,
"MFJ4":0,
"RFJ0":180,
"RFJ3":90,
"RFJ4":0,
"LFJ0":180,
"LFJ3":90,
"LFJ4":0,
"LFJ5":0,
"WRJ1":0,
"WRJ2":0 }
Definition at line 49 of file fancy_touch_demo.py.
Definition at line 129 of file fancy_touch_demo.py.
Definition at line 129 of file fancy_touch_demo.py.
dictionary fancy_touch_demo.FancyDemo::thumb_up_pos_hand [static] |
{ "THJ1":0,
"THJ2":0,
"THJ3":0,
"THJ4":0,
"THJ5":0,
"FFJ0":180,
"FFJ3":90,
"FFJ4":0,
"MFJ0":180,
"MFJ3":90,
"MFJ4":0,
"RFJ0":180,
"RFJ3":90,
"RFJ4":0,
"LFJ0":180,
"LFJ3":90,
"LFJ4":0,
"LFJ5":0,
"WRJ1":0,
"WRJ2":10 }
Definition at line 92 of file fancy_touch_demo.py.