47 This class holds methods to operate the hands of NEXTAGE OPEN in a specific 48 configuration where a clipping hand on left and suction hand on right 49 connected to toolchanger module. This was presented at IROS 2013. 55 @see: AbsractIros13Hands.__init__ 70 super(Iros13Hands, self).
__init__(parent)
88 return self.airhand_l_command.execute(self.airhand_l_command.AIRHAND_DRAWIN)
91 return self.airhand_r_command.execute(self.airhand_r_command.AIRHAND_DRAWIN)
94 return self.airhand_l_command.execute(self.airhand_l_command.AIRHAND_KEEP)
97 return self.airhand_r_command.execute(self.airhand_r_command.AIRHAND_KEEP)
100 return self.airhand_l_command.execute(self.airhand_l_command.AIRHAND_RELEASE)
103 return self.airhand_r_command.execute(self.airhand_r_command.AIRHAND_RELEASE)
106 return self.gripper_l_command.execute(self.gripper_l_command.GRIPPER_CLOSE)
109 return self.gripper_r_command.execute(self.gripper_r_command.GRIPPER_CLOSE)
112 return self.gripper_l_command.execute(self.gripper_r_command.GRIPPER_OPEN)
115 return self.gripper_r_command.execute(self.gripper_r_command.GRIPPER_OPEN)
118 return self.toolchanger_l_command.execute(
119 self.toolchanger_l_command.HAND_TOOLCHANGE_OFF)
122 return self.toolchanger_r_command.execute(
123 self.toolchanger_r_command.HAND_TOOLCHANGE_OFF)
126 return self.toolchanger_l_command.execute(
127 self.toolchanger_l_command.HAND_TOOLCHANGE_ON)
130 return self.toolchanger_r_command.execute(
131 self.toolchanger_r_command.HAND_TOOLCHANGE_ON)
134 return self.handlight_r_command.turn_handlight(self.
HAND_R, is_on)
137 return self.handlight_l_command.turn_handlight(self.
HAND_L, is_on)
140 result = self.handlight_l_command.turn_handlight(self.
HAND_L, is_on)
141 result = result
and self.handlight_r_command.turn_handlight(self.
HAND_R, is_on)
def handtool_r_eject(self)
def airhand_r_drawin(self)
def gripper_r_close(self)
def handlight_r(self, is_on=True)
def gripper_l_close(self)
def handlight_both(self, is_on=True)
def handtool_r_attach(self)
def handtool_l_eject(self)
def airhand_r_release(self)
def __init__(self, parent)
def airhand_l_drawin(self)
def airhand_l_release(self)
def handlight_l(self, is_on=True)
def handtool_l_attach(self)