def _tighten_hand(self, pos_increment=0.8):
self._disable_tactile_stops()
pos_cmd = PoseCommand()
pos_cmd.f1 = self.hand_state.finger[0].proximal + pos_increment
pos_cmd.f2 = self.hand_state.finger[1].proximal + pos_increment
pos_cmd.f3 = self.hand_state.finger[2].proximal + pos_increment
pos_cmd.preshape = 0.0
for i in range(10):
self.pos_cmd_pub.publish(pos_cmd)
def open_hand(self, req):
pos_cmd = PoseCommand()
pos_cmd.f1 = 0.0
pos_cmd.f2 = 0.0
pos_cmd.f3 = 0.0
pos_cmd.preshape = 0.0
for i in range(10):
self.pos_cmd_pub.publish(pos_cmd)
self.grasp_status = False
return TriggerResponse(success=True)
