Functions
def	main
def	map_joystick
def	rotate
def	set_j

Function Documentation

def joint_position_joystick.main ( )

RSDK Joint Position Example: Joystick Control

Use a game controller to control the angular joint positions
of Baxter's arms.

Attach a game controller to your dev machine and run this
example along with the ROS joy_node to control the position
of each joint in Baxter's arms using the joysticks. Be sure to
provide your *joystick* type to setup appropriate key mappings.

Each stick axis maps to a joint angle; which joints are currently
controlled can be incremented by using the mapped increment buttons.
Ex:
  (x,y -> e0,e1) >>increment>> (x,y -> e1,e2)

Definition at line 164 of file joint_position_joystick.py.

def joint_position_joystick.map_joystick ( joystick )

Maps joystick input to joint position commands.

@param joystick: an instance of a Joystick

Definition at line 71 of file joint_position_joystick.py.

def joint_position_joystick.rotate ( l )

Rotates a list left.

@param l: the list

Definition at line 43 of file joint_position_joystick.py.

def joint_position_joystick.set_j	(	cmd,
		limb,
		joints,
		index,
		delta
	)

Set the selected joint to current pos + delta.

@param cmd: the joint command dictionary
@param limb: the limb to get the pos from
@param joints: a list of joint names
@param index: the index in the list of names
@param delta: delta to update the joint by

joint/index is to make this work in the bindings.

Definition at line 55 of file joint_position_joystick.py.

Functions

Function Documentation