Source code for morse.middleware.pocolibs.overlays.fingers
import logging; logger = logging.getLogger("morse." + __name__)
logger.setLevel(logging.DEBUG)
from morse.core.services import service
from morse.core.overlay import MorseOverlay
from morse.middleware.pocolibs_datastream import DummyPoster
[docs]class Fingers(MorseOverlay):
def __init__(self, overlaid_object):
# Call the constructor of the parent class
super(self.__class__,self).__init__(overlaid_object)
self.ctrl = DummyPoster('fingerCntrl')
[docs] def name(self):
return "fingers"
@service
[docs] def Init(self, grasped, mode):
pass
@service
[docs] def OpenGrip(self):
self.overlaid_object.release()
@service
[docs] def CloseGrip(self):
grasped = self.overlaid_object.grab()
if grasped:
return [1]
else:
return [0]