demo_l.py
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1 #!/usr/bin/env python
2 #
3 # Copyright 2019 Shadow Robot Company Ltd.
4 #
5 # This program is free software: you can redistribute it and/or modify it
6 # under the terms of the GNU General Public License as published by the Free
7 # Software Foundation, either version 2 of the License, or (at your option)
8 # any later version.
9 #
10 # This program is distributed in the hope that it will be useful, but WITHOUT
11 # ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
12 # FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
13 # more details.
14 #
15 # You should have received a copy of the GNU General Public License along
16 # with this program. If not, see <http://www.gnu.org/licenses/>.
17 #
18 
19 import rospy
20 import random
21 import time
22 from sr_robot_commander.sr_hand_commander import SrHandCommander
23 
24 rospy.init_node("left_hand_demo", anonymous=True)
25 
26 hand_commander = SrHandCommander(name="left_hand", prefix="lh_")
27 
28 ##########
29 # RANGES #
30 ##########
31 
32 inter_time_max = 4.0
33 
34 # Minimum alllowed range for the joints in this particular script
35 min_range = {"lh_THJ2": -40, "lh_THJ3": -12, "lh_THJ4": 0, "lh_THJ5": -55,
36  "lh_FFJ1": 0, "lh_FFJ2": 20, "lh_FFJ3": 0, "lh_FFJ4": -20,
37  "lh_MFJ1": 0, "lh_MFJ2": 20, "lh_MFJ3": 0, "lh_MFJ4": -10,
38  "lh_RFJ1": 0, "lh_RFJ2": 20, "lh_RFJ3": 0, "lh_RFJ4": -10,
39  "lh_LFJ1": 10, "lh_LFJ2": 10, "lh_LFJ3": 0, "lh_LFJ4": -20, "lh_LFJ5": 0,
40  "lh_WRJ1": -20, "lh_WRJ2": -10}
41 
42 # Maximum alllowed range for the joints in this particular script
43 max_range = {"lh_THJ2": 20, "lh_THJ3": 12, "lh_THJ4": 70, "lh_THJ5": 0,
44  "lh_FFJ1": 20, "lh_FFJ2": 90, "lh_FFJ3": 90, "lh_FFJ4": 0,
45  "lh_MFJ1": 20, "lh_MFJ2": 90, "lh_MFJ3": 90, "lh_MFJ4": 0,
46  "lh_RFJ1": 20, "lh_RFJ2": 90, "lh_RFJ3": 90, "lh_RFJ4": 0,
47  "lh_LFJ1": 20, "lh_LFJ2": 90, "lh_LFJ3": 90, "lh_LFJ4": 0, "lh_LFJ5": 1,
48  "lh_WRJ1": 10, "lh_WRJ2": 5}
49 
50 ####################
51 # POSE DEFINITIONS #
52 ####################
53 
54 # starting position for the hand
55 start_pos = {"lh_THJ1": 0, "lh_THJ2": 0, "lh_THJ3": 0, "lh_THJ4": 0, "lh_THJ5": 0,
56  "lh_FFJ1": 0, "lh_FFJ2": 0, "lh_FFJ3": 0, "lh_FFJ4": 0,
57  "lh_MFJ1": 0, "lh_MFJ2": 0, "lh_MFJ3": 0, "lh_MFJ4": 0,
58  "lh_RFJ1": 0, "lh_RFJ2": 0, "lh_RFJ3": 0, "lh_RFJ4": 0,
59  "lh_LFJ1": 0, "lh_LFJ2": 0, "lh_LFJ3": 0, "lh_LFJ4": 0, "lh_LFJ5": 0,
60  "lh_WRJ1": 0, "lh_WRJ2": 0}
61 # Start position for the Hand
62 pregrasp_pos = {"lh_THJ2": 12, "lh_THJ3": 15, "lh_THJ4": 69, "lh_THJ5": -23,
63  "lh_FFJ1": 0, "lh_FFJ2": 40, "lh_FFJ3": 21, "lh_FFJ4": -15,
64  "lh_MFJ1": 0, "lh_MFJ2": 40, "lh_MFJ3": 21, "lh_MFJ4": 0,
65  "lh_RFJ1": 0, "lh_RFJ2": 40, "lh_RFJ3": 21, "lh_RFJ4": -7,
66  "lh_LFJ1": 0, "lh_LFJ2": 40, "lh_LFJ3": 21, "lh_LFJ4": -10, "lh_LFJ5": 0,
67  "lh_WRJ1": 0, "lh_WRJ2": 0}
68 # Close position for the Hand
69 grasp_pos = {"lh_THJ2": 30, "lh_THJ3": 15, "lh_THJ4": 69, "lh_THJ5": -3,
70  "lh_FFJ1": 0, "lh_FFJ2": 77, "lh_FFJ3": 67, "lh_FFJ4": -19,
71  "lh_MFJ1": 0, "lh_MFJ2": 82, "lh_MFJ3": 62, "lh_MFJ4": 0,
72  "lh_RFJ1": 0, "lh_RFJ2": 89, "lh_RFJ3": 64, "lh_RFJ4": -18,
73  "lh_LFJ1": 7, "lh_LFJ2": 90, "lh_LFJ3": 64, "lh_LFJ4": -19, "lh_LFJ5": 0,
74  "lh_WRJ1": 0, "lh_WRJ2": 0}
75 # Random position for the Hand (initialied at 0)
76 rand_pos = {"lh_THJ2": 0, "lh_THJ3": 0, "lh_THJ4": 0, "lh_THJ5": 0,
77  "lh_FFJ1": 0, "lh_FFJ2": 0, "lh_FFJ3": 0, "lh_FFJ4": 0,
78  "lh_MFJ1": 0, "lh_MFJ2": 0, "lh_MFJ3": 0, "lh_MFJ4": 0,
79  "lh_RFJ1": 0, "lh_RFJ2": 0, "lh_RFJ3": 0, "lh_RFJ4": 0,
80  "lh_LFJ1": 0, "lh_LFJ2": 0, "lh_LFJ3": 0, "lh_LFJ4": 0, "lh_LFJ5": 0,
81  "lh_WRJ1": 0, "lh_WRJ2": 0}
82 # flex first finger
83 flex_ff = {"lh_FFJ1": 90, "lh_FFJ2": 90, "lh_FFJ3": 90, "lh_FFJ4": 0}
84 # extend first finger
85 ext_ff = {"lh_FFJ1": 0, "lh_FFJ2": 0, "lh_FFJ3": 0, "lh_FFJ4": 0}
86 # flex middle finger
87 flex_mf = {"lh_MFJ1": 90, "lh_MFJ2": 90, "lh_MFJ3": 90, "lh_MFJ4": 0}
88 # extend middle finger
89 ext_mf = {"lh_MFJ1": 0, "lh_MFJ2": 0, "lh_MFJ3": 0, "lh_MFJ4": 0}
90 # flex ring finger
91 flex_rf = {"lh_RFJ1": 90, "lh_RFJ2": 90, "lh_RFJ3": 90, "lh_RFJ4": 0}
92 # extend ring finger
93 ext_rf = {"lh_RFJ1": 0, "lh_RFJ2": 0, "lh_RFJ3": 0, "lh_RFJ4": 0}
94 # flex little finger
95 flex_lf = {"lh_LFJ1": 90, "lh_LFJ2": 90, "lh_LFJ3": 90, "lh_LFJ4": 0}
96 # extend middle finger
97 ext_lf = {"lh_LFJ1": 0, "lh_LFJ2": 0, "lh_LFJ3": 0, "lh_LFJ4": 0}
98 # flex thumb step 1
99 flex_th_1 = {"lh_THJ1": 0, "lh_THJ2": 0, "lh_THJ3": 0, "lh_THJ4": 70, "lh_THJ5": 0}
100 # flex thumb step 2
101 flex_th_2 = {"lh_THJ1": 35, "lh_THJ2": 38, "lh_THJ3": 10, "lh_THJ4": 70, "lh_THJ5": 58}
102 # extend thumb step 1
103 ext_th_1 = {"lh_THJ1": 10, "lh_THJ2": 20, "lh_THJ3": 5, "lh_THJ4": 35, "lh_THJ5": 25}
104 # extend thumb step 2
105 ext_th_2 = {"lh_THJ1": 0, "lh_THJ2": 0, "lh_THJ3": 0, "lh_THJ4": 0, "lh_THJ5": 0}
106 # zero thumb
107 zero_th = {"lh_THJ1": 0, "lh_THJ2": 0, "lh_THJ3": 0, "lh_THJ4": 0, "lh_THJ5": 0}
108 # Pre O.K. with first finger
109 pre_ff_ok = {"lh_THJ4": 70}
110 # O.K. with first finger
111 ff_ok = {"lh_THJ1": 17, "lh_THJ2": 20, "lh_THJ3": 0, "lh_THJ4": 56, "lh_THJ5": 18,
112  "lh_FFJ1": 0, "lh_FFJ2": 75, "lh_FFJ3": 52, "lh_FFJ4": -0.2,
113  "lh_MFJ1": 0, "lh_MFJ2": 42, "lh_MFJ3": 33, "lh_MFJ4": -3,
114  "lh_RFJ1": 0, "lh_RFJ2": 50, "lh_RFJ3": 18, "lh_RFJ4": 0.5,
115  "lh_LFJ1": 0, "lh_LFJ2": 30, "lh_LFJ3": 0, "lh_LFJ4": -6, "lh_LFJ5": 7}
116 # O.K. transition from first finger to middle finger
117 ff2mf_ok = {"lh_THJ1": 5, "lh_THJ2": 12, "lh_THJ3": 4, "lh_THJ4": 60, "lh_THJ5": 2,
118  "lh_FFJ1": 0, "lh_FFJ2": 14, "lh_FFJ3": 7, "lh_FFJ4": -0.4,
119  "lh_MFJ1": 0, "lh_MFJ2": 42, "lh_MFJ3": 33, "lh_MFJ4": -3,
120  "lh_RFJ1": 0, "lh_RFJ2": 50, "lh_RFJ3": 18, "lh_RFJ4": 0.5,
121  "lh_LFJ1": 0, "lh_LFJ2": 30, "lh_LFJ3": 0, "lh_LFJ4": -6, "lh_LFJ5": 7}
122 # O.K. with middle finger
123 mf_ok = {"lh_THJ1": 19, "lh_THJ2": 17, "lh_THJ3": 6, "lh_THJ4": 66, "lh_THJ5": 31,
124  "lh_FFJ1": 0, "lh_FFJ2": 15, "lh_FFJ3": 7, "lh_FFJ4": -0.4,
125  "lh_MFJ1": 11, "lh_MFJ2": 71, "lh_MFJ3": 49, "lh_MFJ4": 10,
126  "lh_RFJ1": 0, "lh_RFJ2": 50, "lh_RFJ3": 18, "lh_RFJ4": -10,
127  "lh_LFJ1": 0, "lh_LFJ2": 30, "lh_LFJ3": 0, "lh_LFJ4": -6, "lh_LFJ5": 7}
128 # O.K. transition from middle finger to ring finger
129 mf2rf_ok = {"lh_THJ1": 5, "lh_THJ2": -5, "lh_THJ3": 15, "lh_THJ4": 70, "lh_THJ5": 19,
130  "lh_FFJ1": 0, "lh_FFJ2": 14, "lh_FFJ3": 7, "lh_FFJ4": -0.4,
131  "lh_MFJ1": 0, "lh_MFJ2": 45, "lh_MFJ3": 4, "lh_MFJ4": -1,
132  "lh_RFJ1": 0, "lh_RFJ2": 50, "lh_RFJ3": 18, "lh_RFJ4": -19,
133  "lh_LFJ1": 0, "lh_LFJ2": 30, "lh_LFJ3": 0, "lh_LFJ4": -12, "lh_LFJ5": 7}
134 # O.K. with ring finger
135 rf_ok = {"lh_THJ1": 8, "lh_THJ2": 15, "lh_THJ3": 15, "lh_THJ4": 70, "lh_THJ5": 45,
136  "lh_FFJ1": 0, "lh_FFJ2": 14, "lh_FFJ3": 7, "lh_FFJ4": -0.4,
137  "lh_MFJ1": 0, "lh_MFJ2": 45, "lh_MFJ3": 4, "lh_MFJ4": -1,
138  "lh_RFJ1": 3, "lh_RFJ2": 90, "lh_RFJ3": 42, "lh_RFJ4": -19,
139  "lh_LFJ1": 0, "lh_LFJ2": 30, "lh_LFJ3": 0, "lh_LFJ4": -12, "lh_LFJ5": 7}
140 # O.K. transition from ring finger to little finger
141 rf2lf_ok = {"lh_THJ1": 5, "lh_THJ2": 4.5, "lh_THJ3": 8, "lh_THJ4": 60, "lh_THJ5": 21,
142  "lh_FFJ1": 0, "lh_FFJ2": 14, "lh_FFJ3": 7, "lh_FFJ4": -0.4,
143  "lh_MFJ1": 0, "lh_MFJ2": 45, "lh_MFJ3": 4, "lh_MFJ4": -1,
144  "lh_RFJ1": 0, "lh_RFJ2": 30, "lh_RFJ3": 6, "lh_RFJ4": 0.5,
145  "lh_LFJ1": 0, "lh_LFJ2": 30, "lh_LFJ3": 0, "lh_LFJ4": -10, "lh_LFJ5": 7}
146 # O.K. with little finger
147 lf_ok = {"lh_THJ1": 25, "lh_THJ2": 14, "lh_THJ3": 10, "lh_THJ4": 69, "lh_THJ5": 22,
148  "lh_FFJ1": 0, "lh_FFJ2": 14, "lh_FFJ3": 7, "lh_FFJ4": -0.4,
149  "lh_MFJ1": 0, "lh_MFJ2": 15, "lh_MFJ3": 4, "lh_MFJ4": -1,
150  "lh_RFJ1": 0, "lh_RFJ2": 15, "lh_RFJ3": 6, "lh_RFJ4": 0.5,
151  "lh_LFJ1": 0, "lh_LFJ2": 78, "lh_LFJ3": 26, "lh_LFJ4": 5, "lh_LFJ5": 37}
152 # zero wrist
153 zero_wr = {"lh_WRJ1": 0, "lh_WRJ2": 0}
154 # north wrist
155 n_wr = {"lh_WRJ1": 15, "lh_WRJ2": 0}
156 # south wrist
157 s_wr = {"lh_WRJ1": -20, "lh_WRJ2": 0}
158 # east wrist
159 e_wr = {"lh_WRJ1": 0, "lh_WRJ2": 8}
160 # west wrist
161 w_wr = {"lh_WRJ1": 0, "lh_WRJ2": -14}
162 # northeast wrist
163 ne_wr = {"lh_WRJ1": 15, "lh_WRJ2": 8}
164 # northwest wrist
165 nw_wr = {"lh_WRJ1": 15, "lh_WRJ2": -14}
166 # southweast wrist
167 sw_wr = {"lh_WRJ1": -20, "lh_WRJ2": -14}
168 # southeast wrist
169 se_wr = {"lh_WRJ1": -20, "lh_WRJ2": 8}
170 # lateral lf ext side
171 l_ext_lf = {"lh_LFJ4": -15}
172 # lateral rf ext side
173 l_ext_rf = {"lh_RFJ4": -15}
174 # lateral mf ext side
175 l_ext_mf = {"lh_MFJ4": 15}
176 # lateral ff ext side
177 l_ext_ff = {"lh_FFJ4": 15}
178 # lateral all int side
179 l_int_all = {"lh_FFJ4": -15, "lh_MFJ4": -15, "lh_RFJ4": 15, "lh_LFJ4": 15}
180 # lateral all ext side
181 l_ext_all = {"lh_FFJ4": 15, "lh_MFJ4": 15, "lh_RFJ4": -15, "lh_LFJ4": -15}
182 # lateral ff int side
183 l_int_ff = {"lh_FFJ4": -15}
184 # lateral mf int side
185 l_int_mf = {"lh_MFJ4": -15}
186 # lateral rf int side
187 l_int_rf = {"lh_RFJ4": 15}
188 # lateral lf int side
189 l_int_lf = {"lh_LFJ4": 15}
190 # all zero
191 l_zero_all = {"lh_FFJ4": 0, "lh_MFJ4": 0, "lh_RFJ4": 0, "lh_LFJ4": 0}
192 # spock
193 l_spock = {"lh_FFJ4": -20, "lh_MFJ4": -20, "lh_RFJ4": -20, "lh_LFJ4": -20}
194 # grasp for shaking hands step 1
195 shake_grasp_1 = {"lh_THJ1": 0, "lh_THJ2": 6, "lh_THJ3": 10, "lh_THJ4": 37, "lh_THJ5": 9,
196  "lh_FFJ1": 0, "lh_FFJ2": 21, "lh_FFJ3": 26, "lh_FFJ4": 0,
197  "lh_MFJ1": 0, "lh_MFJ2": 18, "lh_MFJ3": 24, "lh_MFJ4": 0,
198  "lh_RFJ1": 0, "lh_RFJ2": 30, "lh_RFJ3": 16, "lh_RFJ4": 0,
199  "lh_LFJ1": 0, "lh_LFJ2": 30, "lh_LFJ3": 0, "lh_LFJ4": -10, "lh_LFJ5": 10}
200 # grasp for shaking hands step 2
201 shake_grasp_2 = {"lh_THJ1": 21, "lh_THJ2": 21, "lh_THJ3": 10, "lh_THJ4": 42, "lh_THJ5": 21,
202  "lh_FFJ1": 0, "lh_FFJ2": 75, "lh_FFJ3": 29, "lh_FFJ4": 0,
203  "lh_MFJ1": 0, "lh_MFJ2": 75, "lh_MFJ3": 41, "lh_MFJ4": 0,
204  "lh_RFJ1": 0, "lh_RFJ2": 75, "lh_RFJ3": 41, "lh_RFJ4": 0,
205  "lh_LFJ1": 10, "lh_LFJ2": 90, "lh_LFJ3": 41, "lh_LFJ4": 0, "lh_LFJ5": 0}
206 # store step 1 PST
207 store_1_PST = {"lh_THJ1": 0, "lh_THJ2": 0, "lh_THJ3": 0, "lh_THJ4": 60, "lh_THJ5": 0,
208  "lh_FFJ1": 90, "lh_FFJ2": 90, "lh_FFJ3": 90, "lh_FFJ4": 0,
209  "lh_MFJ1": 90, "lh_MFJ2": 90, "lh_MFJ3": 90, "lh_MFJ4": 0,
210  "lh_RFJ1": 90, "lh_RFJ2": 90, "lh_RFJ3": 90, "lh_RFJ4": 0,
211  "lh_LFJ1": 90, "lh_LFJ2": 90, "lh_LFJ3": 90, "lh_LFJ4": 0, "lh_LFJ5": 0,
212  "lh_WRJ1": 0, "lh_WRJ2": 0}
213 # store step 2 PST
214 store_2_PST = {"lh_THJ1": 50, "lh_THJ2": 12, "lh_THJ3": 0, "lh_THJ4": 60, "lh_THJ5": 27,
215  "lh_FFJ1": 90, "lh_FFJ2": 90, "lh_FFJ3": 90, "lh_FFJ4": 0,
216  "lh_MFJ1": 90, "lh_MFJ2": 90, "lh_MFJ3": 90, "lh_MFJ4": 0,
217  "lh_RFJ1": 90, "lh_RFJ2": 90, "lh_RFJ3": 90, "lh_RFJ4": 0,
218  "lh_LFJ1": 90, "lh_LFJ2": 90, "lh_LFJ3": 90, "lh_LFJ4": 0, "lh_LFJ5": 0,
219  "lh_WRJ1": 0, "lh_WRJ2": 0}
220 # store step 1 Bio_Tac
221 store_1_BioTac = {"lh_THJ1": 0, "lh_THJ2": 0, "lh_THJ3": 0, "lh_THJ4": 30, "lh_THJ5": 0,
222  "lh_FFJ1": 90, "lh_FFJ2": 90, "lh_FFJ3": 90, "lh_FFJ4": 0,
223  "lh_MFJ1": 90, "lh_MFJ2": 90, "lh_MFJ3": 90, "lh_MFJ4": 0,
224  "lh_RFJ1": 90, "lh_RFJ2": 90, "lh_RFJ3": 90, "lh_RFJ4": 0,
225  "lh_LFJ1": 90, "lh_LFJ2": 90, "lh_LFJ3": 90, "lh_LFJ4": 0, "lh_LFJ5": 0,
226  "lh_WRJ1": 0, "lh_WRJ2": 0}
227 # store step 2 Bio_Tac
228 store_2_BioTac = {"lh_THJ1": 20, "lh_THJ2": 36, "lh_THJ3": 0, "lh_THJ4": 30, "lh_THJ5": -3,
229  "lh_FFJ1": 90, "lh_FFJ2": 90, "lh_FFJ3": 90, "lh_FFJ4": 0,
230  "lh_MFJ1": 90, "lh_MFJ2": 90, "lh_MFJ3": 90, "lh_MFJ4": 0,
231  "lh_RFJ1": 90, "lh_RFJ2": 90, "lh_RFJ3": 90, "lh_RFJ4": 0,
232  "lh_LFJ1": 90, "lh_LFJ2": 90, "lh_LFJ3": 90, "lh_LFJ4": 0, "lh_LFJ5": 0,
233  "lh_WRJ1": 0, "lh_WRJ2": 0}
234 # store step 3
235 store_3 = {"lh_THJ1": 0, "lh_THJ2": 0, "lh_THJ3": 0, "lh_THJ4": 65, "lh_THJ5": 0}
236 # business card pre-zero position
237 bc_pre_zero = {"lh_THJ1": 15, "lh_THJ2": 7, "lh_THJ3": -4, "lh_THJ4": 41, "lh_THJ5": -20,
238  "lh_FFJ1": 0, "lh_FFJ2": 14, "lh_FFJ3": 7, "lh_FFJ4": -1,
239  "lh_MFJ1": 0, "lh_MFJ2": 51, "lh_MFJ3": 33, "lh_MFJ4": 20,
240  "lh_RFJ1": 0, "lh_RFJ2": 50, "lh_RFJ3": 18, "lh_RFJ4": -20,
241  "lh_LFJ1": 0, "lh_LFJ2": 30, "lh_LFJ3": 0, "lh_LFJ4": -20, "lh_LFJ5": 7}
242 # business card zero position
243 bc_zero = {"lh_THJ1": 38, "lh_THJ2": 4, "lh_THJ3": 0, "lh_THJ4": 48, "lh_THJ5": -5,
244  "lh_MFJ1": 7, "lh_MFJ2": 64, "lh_MFJ3": 20, "lh_MFJ4": 18}
245 # business card position 1
246 bc_1 = {"lh_FFJ1": 47, "lh_FFJ2": 90, "lh_FFJ3": 7}
247 # business card position 2
248 bc_2 = {"lh_FFJ1": 47, "lh_FFJ2": 90, "lh_FFJ3": 58}
249 # business card position 3
250 bc_3 = {"lh_FFJ1": 0, "lh_FFJ2": 60, "lh_FFJ3": 58}
251 # business card position 4
252 bc_4 = {"lh_FFJ1": 90, "lh_FFJ2": 90, "lh_FFJ3": 58, "lh_FFJ4": 15}
253 # business card position 5
254 bc_5 = {"lh_FFJ1": 90, "lh_FFJ2": 90, "lh_FFJ3": 0}
255 # business card position 6
256 bc_6 = {"lh_FFJ1": 0, "lh_FFJ2": 0, "lh_FFJ3": 0, "lh_FFJ4": 10}
257 # business card position 7
258 bc_7 = {"lh_FFJ1": 47, "lh_FFJ2": 90, "lh_FFJ3": 15, "lh_FFJ4": 0}
259 # business card position 8
260 bc_8 = {"lh_FFJ1": 47, "lh_FFJ2": 90, "lh_FFJ3": 58}
261 # business card position 9
262 bc_9 = {"lh_FFJ1": 0, "lh_FFJ2": 71, "lh_FFJ3": 58}
263 # business card position 10
264 bc_10 = {"lh_MFJ3": 64, "lh_FFJ4": 20}
265 # business card position 11
266 bc_11 = {"lh_FFJ1": 0, "lh_FFJ2": 81, "lh_FFJ3": 50, "lh_FFJ4": 20,
267  "lh_THJ4": 57, "lh_THJ5": 20,}
268 # business card position 12
269 bc_12 = {"lh_MFJ1": 0, "lh_MFJ2": 20, "lh_MFJ3": 10, "lh_MFJ4": 0}
270 
271 
272 ########################
273 # FUNCTION DEFINITIONS #
274 ########################
275 
276 def secuence_ff():
277  # Start secuence 1
278  rospy.sleep(1)
279  hand_commander.move_to_joint_value_target_unsafe(store_3, 1.0, False, angle_degrees=True)
280  rospy.sleep(1)
281  hand_commander.move_to_joint_value_target_unsafe(start_pos, 1.2, False, angle_degrees=True)
282  rospy.sleep(1.1)
283  hand_commander.move_to_joint_value_target_unsafe(flex_ff, 1.0, False, angle_degrees=True)
284  rospy.sleep(1.3)
285  hand_commander.move_to_joint_value_target_unsafe(ext_ff, 1.0, False, angle_degrees=True)
286  rospy.sleep(1.1)
287  hand_commander.move_to_joint_value_target_unsafe(flex_mf, 1.0, False, angle_degrees=True)
288  rospy.sleep(1.3)
289  hand_commander.move_to_joint_value_target_unsafe(ext_mf, 1.0, False, angle_degrees=True)
290  rospy.sleep(1.1)
291  hand_commander.move_to_joint_value_target_unsafe(flex_rf, 1.0, False, angle_degrees=True)
292  rospy.sleep(1.3)
293  hand_commander.move_to_joint_value_target_unsafe(ext_rf, 1.0, False, angle_degrees=True)
294  rospy.sleep(1.1)
295  hand_commander.move_to_joint_value_target_unsafe(flex_lf, 1.0, False, angle_degrees=True)
296  rospy.sleep(1.3)
297  hand_commander.move_to_joint_value_target_unsafe(ext_lf, 1.0, False, angle_degrees=True)
298  rospy.sleep(1.1)
299  hand_commander.move_to_joint_value_target_unsafe(flex_th_1, 0.7, False, angle_degrees=True)
300  rospy.sleep(1)
301  hand_commander.move_to_joint_value_target_unsafe(flex_th_2, 0.7, False, angle_degrees=True)
302  rospy.sleep(1)
303  hand_commander.move_to_joint_value_target_unsafe(ext_th_2, 0.5, False, angle_degrees=True)
304  rospy.sleep(0.5)
305  hand_commander.move_to_joint_value_target_unsafe(l_ext_lf, 0.5, False, angle_degrees=True)
306  rospy.sleep(0.5)
307  hand_commander.move_to_joint_value_target_unsafe(l_ext_rf, 0.5, False, angle_degrees=True)
308  rospy.sleep(0.5)
309  hand_commander.move_to_joint_value_target_unsafe(l_ext_mf, 0.5, False, angle_degrees=True)
310  rospy.sleep(0.5)
311  hand_commander.move_to_joint_value_target_unsafe(l_ext_ff, 0.5, False, angle_degrees=True)
312  rospy.sleep(0.5)
313  hand_commander.move_to_joint_value_target_unsafe(l_int_all, 0.5, False, angle_degrees=True)
314  rospy.sleep(0.5)
315  hand_commander.move_to_joint_value_target_unsafe(l_ext_all, 0.5, False, angle_degrees=True)
316  rospy.sleep(0.5)
317  hand_commander.move_to_joint_value_target_unsafe(l_int_ff, 0.5, False, angle_degrees=True)
318  rospy.sleep(0.5)
319  hand_commander.move_to_joint_value_target_unsafe(l_int_mf, 0.5, False, angle_degrees=True)
320  rospy.sleep(0.5)
321  hand_commander.move_to_joint_value_target_unsafe(l_int_rf, 0.5, False, angle_degrees=True)
322  rospy.sleep(0.5)
323  hand_commander.move_to_joint_value_target_unsafe(l_int_lf, 0.5, False, angle_degrees=True)
324  rospy.sleep(0.5)
325  hand_commander.move_to_joint_value_target_unsafe(l_zero_all, 0.5, False, angle_degrees=True)
326  rospy.sleep(0.5)
327  hand_commander.move_to_joint_value_target_unsafe(l_spock, 0.5, False, angle_degrees=True)
328  rospy.sleep(0.5)
329  hand_commander.move_to_joint_value_target_unsafe(l_zero_all, 0.5, False, angle_degrees=True)
330  rospy.sleep(0.5)
331  hand_commander.move_to_joint_value_target_unsafe(pre_ff_ok, 1.0, False, angle_degrees=True)
332  rospy.sleep(1)
333  hand_commander.move_to_joint_value_target_unsafe(ff_ok, 1.0, False, angle_degrees=True)
334  rospy.sleep(2)
335  hand_commander.move_to_joint_value_target_unsafe(ff2mf_ok, 0.8, False, angle_degrees=True)
336  rospy.sleep(1.0)
337  hand_commander.move_to_joint_value_target_unsafe(mf_ok, 1.0, False, angle_degrees=True)
338  rospy.sleep(2)
339  hand_commander.move_to_joint_value_target_unsafe(mf2rf_ok, 0.8, False, angle_degrees=True)
340  rospy.sleep(1.0)
341  hand_commander.move_to_joint_value_target_unsafe(rf_ok, 1.0, False, angle_degrees=True)
342  rospy.sleep(2)
343  hand_commander.move_to_joint_value_target_unsafe(rf2lf_ok, 0.8, False, angle_degrees=True)
344  rospy.sleep(1.0)
345  hand_commander.move_to_joint_value_target_unsafe(lf_ok, 1.0, False, angle_degrees=True)
346  rospy.sleep(2)
347  hand_commander.move_to_joint_value_target_unsafe(start_pos, 1.0, False, angle_degrees=True)
348  rospy.sleep(1)
349  hand_commander.move_to_joint_value_target_unsafe(flex_ff, 0.2, False, angle_degrees=True)
350  rospy.sleep(0.2)
351  hand_commander.move_to_joint_value_target_unsafe(flex_mf, 0.2, False, angle_degrees=True)
352  rospy.sleep(0.2)
353  hand_commander.move_to_joint_value_target_unsafe(flex_rf, 0.2, False, angle_degrees=True)
354  rospy.sleep(0.2)
355  hand_commander.move_to_joint_value_target_unsafe(flex_lf, 0.2, False, angle_degrees=True)
356  rospy.sleep(0.2)
357  hand_commander.move_to_joint_value_target_unsafe(ext_ff, 0.2, False, angle_degrees=True)
358  rospy.sleep(0.2)
359  hand_commander.move_to_joint_value_target_unsafe(ext_mf, 0.2, False, angle_degrees=True)
360  rospy.sleep(0.2)
361  hand_commander.move_to_joint_value_target_unsafe(ext_rf, 0.2, False, angle_degrees=True)
362  rospy.sleep(0.2)
363  hand_commander.move_to_joint_value_target_unsafe(ext_lf, 0.2, False, angle_degrees=True)
364  rospy.sleep(0.2)
365  hand_commander.move_to_joint_value_target_unsafe(flex_ff, 0.2, False, angle_degrees=True)
366  rospy.sleep(0.2)
367  hand_commander.move_to_joint_value_target_unsafe(flex_mf, 0.2, False, angle_degrees=True)
368  rospy.sleep(0.2)
369  hand_commander.move_to_joint_value_target_unsafe(flex_rf, 0.2, False, angle_degrees=True)
370  rospy.sleep(0.2)
371  hand_commander.move_to_joint_value_target_unsafe(flex_lf, 0.2, False, angle_degrees=True)
372  rospy.sleep(0.2)
373  hand_commander.move_to_joint_value_target_unsafe(ext_ff, 0.2, False, angle_degrees=True)
374  rospy.sleep(0.2)
375  hand_commander.move_to_joint_value_target_unsafe(ext_mf, 0.2, False, angle_degrees=True)
376  rospy.sleep(0.2)
377  hand_commander.move_to_joint_value_target_unsafe(ext_rf, 0.2, False, angle_degrees=True)
378  rospy.sleep(0.2)
379  hand_commander.move_to_joint_value_target_unsafe(ext_lf, 0.2, False, angle_degrees=True)
380  rospy.sleep(0.2)
381  hand_commander.move_to_joint_value_target_unsafe(flex_ff, 0.2, False, angle_degrees=True)
382  rospy.sleep(0.2)
383  hand_commander.move_to_joint_value_target_unsafe(flex_mf, 0.2, False, angle_degrees=True)
384  rospy.sleep(0.2)
385  hand_commander.move_to_joint_value_target_unsafe(flex_rf, 0.2, False, angle_degrees=True)
386  rospy.sleep(0.2)
387  hand_commander.move_to_joint_value_target_unsafe(flex_lf, 0.2, False, angle_degrees=True)
388  rospy.sleep(0.2)
389  hand_commander.move_to_joint_value_target_unsafe(ext_ff, 0.2, False, angle_degrees=True)
390  rospy.sleep(0.2)
391  hand_commander.move_to_joint_value_target_unsafe(ext_mf, 0.2, False, angle_degrees=True)
392  rospy.sleep(0.2)
393  hand_commander.move_to_joint_value_target_unsafe(ext_rf, 0.2, False, angle_degrees=True)
394  rospy.sleep(0.2)
395  hand_commander.move_to_joint_value_target_unsafe(ext_lf, 0.2, False, angle_degrees=True)
396  rospy.sleep(0.2)
397  hand_commander.move_to_joint_value_target_unsafe(pre_ff_ok, 1.0, False, angle_degrees=True)
398  rospy.sleep(1)
399  hand_commander.move_to_joint_value_target_unsafe(ff_ok, 2.0, False, angle_degrees=True)
400  rospy.sleep(2)
401  hand_commander.move_to_joint_value_target_unsafe(ne_wr, 1.4, False, angle_degrees=True)
402  rospy.sleep(1.4)
403  hand_commander.move_to_joint_value_target_unsafe(nw_wr, 1.4, False, angle_degrees=True)
404  rospy.sleep(1.4)
405  hand_commander.move_to_joint_value_target_unsafe(sw_wr, 1.4, False, angle_degrees=True)
406  rospy.sleep(1.4)
407  hand_commander.move_to_joint_value_target_unsafe(se_wr, 1.4, False, angle_degrees=True)
408  rospy.sleep(1.4)
409  hand_commander.move_to_joint_value_target_unsafe(ne_wr, 0.7, False, angle_degrees=True)
410  rospy.sleep(0.7)
411  hand_commander.move_to_joint_value_target_unsafe(nw_wr, 0.7, False, angle_degrees=True)
412  rospy.sleep(0.7)
413  hand_commander.move_to_joint_value_target_unsafe(sw_wr, 0.7, False, angle_degrees=True)
414  rospy.sleep(0.7)
415  hand_commander.move_to_joint_value_target_unsafe(se_wr, 0.7, False, angle_degrees=True)
416  rospy.sleep(0.7)
417  hand_commander.move_to_joint_value_target_unsafe(zero_wr, 0.4, False, angle_degrees=True)
418  rospy.sleep(0.4)
419  hand_commander.move_to_joint_value_target_unsafe(start_pos, 1.5, False, angle_degrees=True)
420  rospy.sleep(1.5)
421  return
422 
423 
424 def secuence_mf():
425  # Start the secuence 2
426  rospy.sleep(0.5)
427  # Initialize wake time
428  wake_time = time.time()
429 
430  while True:
431  # Check if any of the tactile senors have been triggered
432  # If so, send the Hand to its start position
433  read_tactile_values()
434  if (tactile_values['FF'] > force_zero['FF'] or
435  tactile_values['MF'] > force_zero['MF'] or
436  tactile_values['RF'] > force_zero['RF'] or
437  tactile_values['LF'] > force_zero['LF'] or
438  tactile_values['TH'] > force_zero['TH']):
439 
440  hand_commander.move_to_joint_value_target_unsafe(start_pos, 2.0, False, angle_degrees=True)
441  print 'HAND TOUCHED!'
442  rospy.sleep(2.0)
443 
444  if (tactile_values['TH'] > force_zero['TH']):
445  break
446 
447  # If the tactile sensors have not been triggered and the Hand
448  # is not in the middle of a movement, generate a random position
449  # and interpolation time
450  else:
451  if time.time() > wake_time:
452  for i in rand_pos:
453  rand_pos[i] = random.randrange(min_range[i], max_range[i])
454 
455  rand_pos['lh_FFJ4'] = random.randrange(min_range['lh_FFJ4'], rand_pos['lh_MFJ4'])
456  rand_pos['lh_LFJ4'] = random.randrange(min_range['lh_LFJ4'], rand_pos['lh_RFJ4'])
457  inter_time = inter_time_max * random.random()
458  # rand_pos['interpolation_time'] = max_range['interpolation_time'] * random.random()
459 
460  hand_commander.move_to_joint_value_target_unsafe(rand_pos, inter_time, False, angle_degrees=True)
461  wake_time = time.time() + inter_time * 0.9
462  return
463 
464 
465 def secuence_rf():
466  # Start the secuence 3
467  rospy.sleep(0.5)
468  hand_commander.move_to_joint_value_target_unsafe(start_pos, 1.0, False, angle_degrees=True)
469  rospy.sleep(1)
470  hand_commander.move_to_joint_value_target_unsafe(bc_pre_zero, 2.0, False, angle_degrees=True)
471  rospy.sleep(2)
472  hand_commander.move_to_joint_value_target_unsafe(bc_zero, 1.0, False, angle_degrees=True)
473  rospy.sleep(4)
474  hand_commander.move_to_joint_value_target_unsafe(bc_1, 1.0, False, angle_degrees=True)
475  rospy.sleep(1)
476  hand_commander.move_to_joint_value_target_unsafe(bc_2, 1.0, False, angle_degrees=True)
477  rospy.sleep(1)
478  hand_commander.move_to_joint_value_target_unsafe(bc_3, 1.0, False, angle_degrees=True)
479  rospy.sleep(1)
480  hand_commander.move_to_joint_value_target_unsafe(bc_4, 1.0, False, angle_degrees=True)
481  rospy.sleep(1)
482  hand_commander.move_to_joint_value_target_unsafe(bc_5, 1.0, False, angle_degrees=True)
483  rospy.sleep(1)
484  hand_commander.move_to_joint_value_target_unsafe(bc_6, 1.0, False, angle_degrees=True)
485  rospy.sleep(1)
486  hand_commander.move_to_joint_value_target_unsafe(bc_7, 1.0, False, angle_degrees=True)
487  rospy.sleep(1)
488  hand_commander.move_to_joint_value_target_unsafe(bc_8, 1.0, False, angle_degrees=True)
489  rospy.sleep(1)
490  hand_commander.move_to_joint_value_target_unsafe(bc_9, 1.0, False, angle_degrees=True)
491  rospy.sleep(1)
492  hand_commander.move_to_joint_value_target_unsafe(bc_11, 1.0, False, angle_degrees=True)
493  rospy.sleep(1)
494  hand_commander.move_to_joint_value_target_unsafe(bc_12, 3.0, False, angle_degrees=True)
495  rospy.sleep(4)
496  hand_commander.move_to_joint_value_target_unsafe(start_pos, 1.5, False, angle_degrees=True)
497  rospy.sleep(1.5)
498 
499  return
500 
501 
502 def secuence_lf():
503  # Start the secuence 4
504  # Trigger flag array
505  trigger = [0, 0, 0, 0, 0]
506 
507  # Move Hand to zero position
508  hand_commander.move_to_joint_value_target_unsafe(start_pos, 2.0, False, angle_degrees=True)
509  rospy.sleep(2.0)
510 
511  # Move Hand to starting position
512  hand_commander.move_to_joint_value_target_unsafe(pregrasp_pos, 2.0, False, angle_degrees=True)
513  rospy.sleep(2.0)
514 
515  # Move Hand to close position
516  hand_commander.move_to_joint_value_target_unsafe(grasp_pos, 11.0, False, angle_degrees=True)
517  offset1 = 3
518 
519  # Initialize end time
520  end_time = time.time() + 11
521 
522  while True:
523  # Check the state of the tactile senors
524  read_tactile_values()
525 
526  # Record current joint positions
527  hand_pos = hand_commander.get_joints_position()
528 
529  # If any tacticle sensor has been triggered, send
530  # the corresponding digit to its current position
531  if (tactile_values['FF'] > force_zero['FF'] and trigger[0] == 0):
532  hand_pos_incr_f = {"lh_FFJ1": hand_pos['lh_FFJ1'] + offset1, "lh_FFJ3": hand_pos['lh_FFJ3'] + offset1}
533  hand_commander.move_to_joint_value_target_unsafe(hand_pos_incr_f, 0.5, False, angle_degrees=True)
534  print 'First finger contact'
535  trigger[0] = 1
536 
537  if (tactile_values['MF'] > force_zero['MF'] and trigger[1] == 0):
538  hand_pos_incr_m = {"lh_MFJ1": hand_pos['lh_MFJ1'] + offset1, "lh_MFJ3": hand_pos['lh_MFJ3'] + offset1}
539  hand_commander.move_to_joint_value_target_unsafe(hand_pos_incr_m, 0.5, False, angle_degrees=True)
540  print 'Middle finger contact'
541  trigger[1] = 1
542 
543  if (tactile_values['RF'] > force_zero['RF'] and trigger[2] == 0):
544  hand_pos_incr_r = {"lh_RFJ1": hand_pos['lh_RFJ1'] + offset1, "lh_RFJ3": hand_pos['lh_RFJ3'] + offset1}
545  hand_commander.move_to_joint_value_target_unsafe(hand_pos_incr_r, 0.5, False, angle_degrees=True)
546  print 'Ring finger contact'
547  trigger[2] = 1
548 
549  if (tactile_values['LF'] > force_zero['LF'] and trigger[3] == 0):
550  hand_pos_incr_l = {"lh_LFJ1": hand_pos['lh_LFJ1'] + offset1, "lh_LFJ3": hand_pos['lh_LFJ3'] + offset1}
551  hand_commander.move_to_joint_value_target_unsafe(hand_pos_incr_l, 0.5, False, angle_degrees=True)
552  print 'Little finger contact'
553  trigger[3] = 1
554 
555  if (tactile_values['TH'] > force_zero['TH'] and trigger[4] == 0):
556  hand_pos_incr_th = {"lh_THJ2": hand_pos['lh_THJ2'] + offset1, "lh_THJ5": hand_pos['lh_THJ5'] + offset1}
557  hand_commander.move_to_joint_value_target_unsafe(hand_pos_incr_th, 0.5, False, angle_degrees=True)
558  print 'Thumb contact'
559  trigger[4] = 1
560 
561  if (trigger[0] == 1 and
562  trigger[1] == 1 and
563  trigger[2] == 1 and
564  trigger[3] == 1 and
565  trigger[4] == 1):
566  break
567 
568  if time.time() > end_time:
569  break
570 
571  # Send all joints to current position to compensate
572  # for minor offsets created in the previous loop
573  hand_pos = hand_commander.get_joints_position()
574  hand_commander.move_to_joint_value_target_unsafe(hand_pos, 2.0, False, angle_degrees=True)
575  rospy.sleep(2.0)
576 
577  # Generate new values to squeeze object slightly
578  offset2 = 3
579  squeeze = hand_pos.copy()
580  squeeze.update({"lh_THJ5": hand_pos['lh_THJ5'] + offset2, "lh_THJ2": hand_pos['lh_THJ2'] + offset2,
581  "lh_FFJ3": hand_pos['lh_FFJ3'] + offset2, "lh_FFJ1": hand_pos['lh_FFJ1'] + offset2,
582  "lh_MFJ3": hand_pos['lh_MFJ3'] + offset2, "lh_MFJ1": hand_pos['lh_MFJ1'] + offset2,
583  "lh_RFJ3": hand_pos['lh_RFJ3'] + offset2, "lh_RFJ1": hand_pos['lh_RFJ1'] + offset2,
584  "lh_LFJ3": hand_pos['lh_LFJ3'] + offset2, "lh_LFJ1": hand_pos['lh_LFJ1'] + offset2})
585 
586  # Squeeze object gently
587  hand_commander.move_to_joint_value_target_unsafe(squeeze, 0.5, False, angle_degrees=True)
588  rospy.sleep(0.5)
589  hand_commander.move_to_joint_value_target_unsafe(hand_pos, 0.5, False, angle_degrees=True)
590  rospy.sleep(0.5)
591  hand_commander.move_to_joint_value_target_unsafe(squeeze, 0.5, False, angle_degrees=True)
592  rospy.sleep(0.5)
593  hand_commander.move_to_joint_value_target_unsafe(hand_pos, 2.0, False, angle_degrees=True)
594  rospy.sleep(2.0)
595  hand_commander.move_to_joint_value_target_unsafe(pregrasp_pos, 2.0, False, angle_degrees=True)
596  rospy.sleep(2.0)
597  hand_commander.move_to_joint_value_target_unsafe(start_pos, 2.0, False, angle_degrees=True)
598  rospy.sleep(2.0)
599 
600  return
601 
602 
603 def secuence_th():
604  # Start the secuence 5
605  rospy.sleep(0.5)
606  hand_commander.move_to_joint_value_target_unsafe(start_pos, 1.5, False, angle_degrees=True)
607  rospy.sleep(1.5)
608  return
609 
610 
611 def zero_tactile_sensors():
612  # Move Hand to zero position
613  rospy.sleep(0.5)
614  hand_commander.move_to_joint_value_target_unsafe(start_pos, 1.0, False, angle_degrees=True)
615 
616  print '\n\nPLEASE ENSURE THAT THE TACTILE SENSORS ARE NOT PRESSED\n'
617  # raw_input ('Press ENTER to continue')
618  rospy.sleep(1.0)
619 
620  for x in xrange(1, 1000):
621  # Read current state of tactile sensors to zero them
622  read_tactile_values()
623 
624  if tactile_values['FF'] > force_zero['FF']:
625  force_zero['FF'] = tactile_values['FF']
626  if tactile_values['MF'] > force_zero['MF']:
627  force_zero['MF'] = tactile_values['MF']
628  if tactile_values['RF'] > force_zero['RF']:
629  force_zero['RF'] = tactile_values['RF']
630  if tactile_values['LF'] > force_zero['LF']:
631  force_zero['LF'] = tactile_values['LF']
632  if tactile_values['TH'] > force_zero['TH']:
633  force_zero['TH'] = tactile_values['TH']
634 
635  force_zero['FF'] = force_zero['FF'] + 5
636  force_zero['MF'] = force_zero['MF'] + 5
637  force_zero['RF'] = force_zero['RF'] + 5
638  force_zero['LF'] = force_zero['LF'] + 5
639  force_zero['TH'] = force_zero['TH'] + 5
640 
641  print 'Force Zero', force_zero
642 
643  rospy.loginfo("\n\nOK, ready for the demo")
644 
645  print "\nPRESS ONE OF THE TACTILES TO START A DEMO"
646  print " FF: Standard Demo"
647  print " MF: Shy Hand Demo"
648  print " RF: Card Trick Demo"
649  print " LF: Grasp Demo"
650  print " TH: Open Hand"
651 
652  return
653 
654 
655 def read_tactile_values():
656  # Read tactile type
657  tactile_type = hand_commander.get_tactile_type()
658  # Read current state of tactile sensors
659  tactile_state = hand_commander.get_tactile_state()
660 
661  if tactile_type == "biotac":
662  tactile_values['FF'] = tactile_state.tactiles[0].pdc
663  tactile_values['MF'] = tactile_state.tactiles[1].pdc
664  tactile_values['RF'] = tactile_state.tactiles[2].pdc
665  tactile_values['LF'] = tactile_state.tactiles[3].pdc
666  tactile_values['TH'] = tactile_state.tactiles[4].pdc
667 
668  elif tactile_type == "PST":
669  tactile_values['FF'] = tactile_state.pressure[0]
670  tactile_values['MF'] = tactile_state.pressure[1]
671  tactile_values['RF'] = tactile_state.pressure[2]
672  tactile_values['LF'] = tactile_state.pressure[3]
673  tactile_values['TH'] = tactile_state.pressure[4]
674 
675  elif tactile_type == None:
676  print "You don't have tactile sensors. Talk to your Shadow representative to purchase some"
677 
678  return
679 
680 
681 ########
682 # MAIN #
683 ########
684 
685 # Zero values in dictionary for tactile sensors (initialized at 0)
686 force_zero = {"FF": 0, "MF": 0, "RF": 0, "LF": 0, "TH": 0}
687 # Initialize values for current tactile values
688 tactile_values = {"FF": 0, "MF": 0, "RF": 0, "LF": 0, "TH": 0}
689 # Zero tactile sensors
690 zero_tactile_sensors()
691 
692 while not rospy.is_shutdown():
693  # Check the state of the tactile senors
694  read_tactile_values()
695 
696  # If the tactile is touched, trigger the corresponding function
697  if (tactile_values['FF'] > force_zero['FF']):
698  print 'First finger contact'
699  secuence_ff()
700  print 'FF demo completed'
701  zero_tactile_sensors()
702  if (tactile_values['MF'] > force_zero['MF']):
703  print 'Middle finger contact'
704  secuence_mf()
705  print 'MF demo completed'
706  zero_tactile_sensors()
707  if (tactile_values['RF'] > force_zero['RF']):
708  print 'Ring finger contact'
709  secuence_rf()
710  print 'RF demo completed'
711  zero_tactile_sensors()
712  if (tactile_values['LF'] > force_zero['LF']):
713  print 'Little finger contact'
714  secuence_lf()
715  print 'LF demo completed'
716  zero_tactile_sensors()
717  if (tactile_values['TH'] > force_zero['TH']):
718  print 'Thumb finger contact'
719  secuence_th()
720  print 'TH demo completed'
721  zero_tactile_sensors()
722 
723 
724 
demo_l.secuence_th
def secuence_th()
Definition: demo_l.py:603
demo_l.read_tactile_values
def read_tactile_values()
Definition: demo_l.py:655
demo_l.secuence_lf
def secuence_lf()
Definition: demo_l.py:502
demo_l.secuence_ff
def secuence_ff()
FUNCTION DEFINITIONS #.
Definition: demo_l.py:276
demo_l.zero_tactile_sensors
def zero_tactile_sensors()
Definition: demo_l.py:611
demo_l.secuence_mf
def secuence_mf()
Definition: demo_l.py:424
demo_l.secuence_rf
def secuence_rf()
Definition: demo_l.py:465

sr_ethercat_hand_config
Author(s): Ugo Cupcic, Toni Oliver
autogenerated on Wed Oct 14 2020 03:24:13