def __init__(self):
super(ReflexTakktileHand, self).__init__('/reflex_takktile2',
ReflexTakktileMotor)
self.motor_cmd_pub = rospy.Publisher(
self.namespace + '/radian_hand_command',
reflex_msgs2.msg.RadianServoCommands,
queue_size=10)
self.fingers = {
self.namespace + '_f1': finger.Finger(),
self.namespace + '_f2': finger.Finger(),
self.namespace + '_f3': finger.Finger()
}
self._connect_motors_to_fingers()
self.set_speed_service = rospy.ServiceProxy(
self.namespace + '/set_speed', reflex_msgs2.srv.SetSpeed)
self.calibrate_fingers_service = rospy.ServiceProxy(
self.namespace + '/calibrate_fingers', Empty)
self.calibrate_tactile_service = rospy.ServiceProxy(
self.namespace + '/calibrate_tactile', Empty)
# ............................................TODO(LANCE): Figure this out! Use this for prompts similar to the two lines above
self.calibrate_imus = rospy.ServiceProxy(
self.namespace + '/imu_calibrate', Empty)
rospy.Service(self.namespace + '/enable_tactile_stops', Empty,
self.enable_tactile_stops)
rospy.Service(self.namespace + '/disable_tactile_stops', Empty,
self.disable_tactile_stops)
self.tactile_stops_enabled = False
self.comms_timeout = 5.0 # Seconds with no communications until hand stops
self.latest_update = rospy.get_rostime()
rospy.Subscriber(self.namespace + '/hand_state', reflex_msgs2.msg.Hand,
self._receive_hand_state_cb)
def __init__(self):
super(ReflexTakktileHand, self).__init__('/reflex_takktile',
ReflexTakktileMotor)
self.motor_cmd_pub = rospy.Publisher(
self.namespace + '/radian_hand_command',
reflex_msgs.msg.RadianServoCommands,
queue_size=10)
self.fingers = {
self.namespace + '_f1': finger.Finger(),
self.namespace + '_f2': finger.Finger(),
self.namespace + '_f3': finger.Finger()
}
self._connect_motors_to_fingers()
self.set_speed_service = rospy.ServiceProxy(
self.namespace + '/set_speed', reflex_msgs.srv.SetSpeed)
self.calibrate_fingers_service = rospy.ServiceProxy(
self.namespace + '/calibrate_fingers', Empty)
self.zero_pose_service = rospy.ServiceProxy(
self.namespace + '/zero_pose', Empty)
self.calibrate_tactile_service = rospy.ServiceProxy(
self.namespace + '/calibrate_tactile', Empty)
rospy.Service(self.namespace + '/enable_tactile_stops', Empty,
self.enable_tactile_stops)
rospy.Service(self.namespace + '/disable_tactile_stops', Empty,
self.disable_tactile_stops)
rospy.Service(self.namespace + '/calibrate_fingers_manual', Empty,
self.calibrate_fingers_manual)
self.tactile_stops_enabled = False
self.comms_timeout = 5.0 # Seconds with no communications until hand stops
self.latest_update = rospy.get_rostime()
rospy.Subscriber(self.namespace + '/hand_state', reflex_msgs.msg.Hand,
self._receive_hand_state_cb)
def __init__(self):
self.obj = bpy.data.objects["violin"]
### coordinates in violin-space
### (can't change parents during animation, so no string-space coords)
self.string_coords = self.get_string_coords()
### normalized "coordinate system" of violin
self.away_from_bridge = self.get_away_from_bridge()
self.towards_frog = self.get_towards_frog()
self.away_from_string = self.get_away_from_string()
### other stup
self.string_length = self.get_string_length()
self.string_angles = self.get_string_angles()
### pluck
self.pluck = pluck.Pluck(self)
### bow
self.bow = bow.Bow(self)
### fingers
self.fingers = list(map(lambda x: finger.Finger(self, x),
range(len(STRINGS))))
### camera
self.camera = 0
### initialize positions
self.bow_action(0, 0, 0, 0, 1)
for i in range(len(STRINGS)):
self.finger_action(i, 0.0, 1)