def set_index_side(self):
self.index_p[2] = 570000
pressure_message = SimpleFluidPressures()
pressure_message.values = [
self.thumb_p[2], self.thumb_p[1], 400000, self.thumb_p[0],
self.index_p[0], self.wrist_p[0], self.index_p[1], self.wrist_p[1],
self.middle_p[0], self.index_p[2], self.ring_p[0], self.pinky_p[0]
]
self.pressure_publisher.publish(pressure_message)
def move_index(self, upper, lower, str):
# update new pressure values
self.index_p = [upper, lower, side]
# send new values to hand
pressure_message = SimpleFluidPressures()
pressure_message.values = [
self.thumb_p[2], self.thumb_p[1], 400000, self.thumb_p[0],
self.index_p[0], self.wrist_p[0], self.index_p[1], self.wrist_p[1],
self.middle_p[0], self.index_p[2], self.ring_p[0], self.pinky_p[0]
]
self.pressure_publisher.publish(pressure_message)
return
def move_mrp(self, pressure):
# update new pressure values
self.middle_p = [pressure]
self.ring_p = [pressure]
self.pinky_p = [pressure]
# send new values to hand
pressure_message = SimpleFluidPressures()
pressure_message.values = [
self.thumb_p[2], self.thumb_p[1], 400000, self.thumb_p[0],
self.index_p[0], self.wrist_p[0], self.index_p[1], self.wrist_p[1],
self.middle_p[0], self.index_p[2], self.ring_p[0], self.pinky_p[0]
]
self.pressure_publisher.publish(pressure_message)
def set_hand_fist(self):
# set finger pressure values
self.thumb_p[2] = 320000
self.thumb_p[1] = 370000
self.thumb_p[0] = 360000
self.index_p[0] = 570000
self.index_p[1] = 570000
self.middle_p[0] = 570000
self.index_p[2] = 590000
self.ring_p[0] = 560000
self.pinky_p[0] = 560000
# send new values to hand
pressure_message = SimpleFluidPressures()
pressure_message.values = [
self.thumb_p[2], self.thumb_p[1], 400000, self.thumb_p[0],
self.index_p[0], self.wrist_p[0], self.index_p[1], self.wrist_p[1],
self.middle_p[0], self.index_p[2], self.ring_p[0], self.pinky_p[0]
]
self.pressure_publisher.publish(pressure_message)
return
def __init__(self):
# Hand desired pressure values
self.wrist_p = np.zeros(2)
self.thumb_p = np.zeros(3)
self.index_p = np.zeros(3)
self.middle_p = np.zeros(1)
self.ring_p = np.zeros(1)
self.pinky_p = np.zeros(1)
# Publisher and subscriber
self.pressure_message = SimpleFluidPressures()
self.pressure_publisher = rospy.Publisher("/festo/phand/set_pressures",
SimpleFluidPressures,
queue_size=10)
__copyright__ = "Copyright 2020, Festo Coperate Bionic Projects"
__credits__ = ["Timo Schwarzer"]
__license__ = "GNU GPL v3.0"
__version__ = "1.0.6"
__maintainer__ = "Timo Schwarzer"
__email__ = "*****@*****.**"
__status__ = "Experimental"
# ros imports
import rospy
# festo imports
from festo_phand_msgs.msg import SimpleFluidPressures
pressure_pub = rospy.Publisher("/festo/phand/set_pressures", SimpleFluidPressures, queue_size=1)
msg = SimpleFluidPressures()
def close_claw(speed):
pass
def open_claw(speed):
pass
def shake_wrist(speed):
pass
if __name__ == "__main__":