Corrected order of fingers moving when using demo icons (#764)

* improving finger action order * Lint fix * License fix
shadow-robot · Aug 15, 2022 · 9cc0709 · 9cc0709
1 parent ccf94ee
commit 9cc0709
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diff --git a/sr_demos/scripts/sr_demos/close.py b/sr_demos/scripts/sr_demos/close.py
@@ -1,6 +1,6 @@
 #!/usr/bin/env python3
 
-# Copyright 2021 Shadow Robot Company Ltd.
+# Copyright 2021-2022 Shadow Robot Company Ltd.
 #
 # This program is free software: you can redistribute it and/or modify it
 # under the terms of the GNU General Public License as published by the Free
@@ -68,20 +68,23 @@ def execute_trajectory(hand_commander, joint_states_no_id, joint_prefix, msg, ti
 
     hand_commander = SrHandCommander(name=hand_name)
 
-    open_hand_no_id = {'FFJ1': 0.0, 'FFJ2': 0.0, 'FFJ3': 0.0, 'FFJ4': 0.0,
-                       'MFJ1': 0.0, 'MFJ2': 0.0, 'MFJ3': 0.0, 'MFJ4': 0.0,
-                       'RFJ1': 0.0, 'RFJ2': 0.0, 'RFJ3': 0.0, 'RFJ4': 0.0,
-                       'LFJ1': 0.0, 'LFJ2': 0.0, 'LFJ3': 0.0, 'LFJ4': 0.0, 'LFJ5': 0.0,
-                       'THJ1': 0.0, 'THJ2': 0.0, 'THJ3': 0.0, 'THJ4': 0.0, 'THJ5': 0.0,
-                       'WRJ1': 0.0, 'WRJ2': 0.0}
-    close_hand_no_id = {'FFJ1': 1.5707, 'FFJ2': 1.5707, 'FFJ3': 1.5707, 'FFJ4': 0.0,
-                        'MFJ1': 1.5707, 'MFJ2': 1.5707, 'MFJ3': 1.5707, 'MFJ4': 0.0,
-                        'RFJ1': 1.5707, 'RFJ2': 1.5707, 'RFJ3': 1.5707, 'RFJ4': 0.0,
-                        'LFJ1': 1.5707, 'LFJ2': 1.5707, 'LFJ3': 1.5707, 'LFJ4': 0.0,
-                        'LFJ5': 0.0,
-                        'WRJ1': 0.0, 'WRJ2': 0.0}
-    close_thumb_no_id = {'THJ1': 0.52, 'THJ2': 0.61, 'THJ3': 0.0, 'THJ4': 1.20, 'THJ5': 0.17}
-
-    execute_trajectory(hand_commander, open_hand_no_id, joint_prefix, "Moving to open position")
-    execute_trajectory(hand_commander, close_hand_no_id, joint_prefix, "Moving fingers to close position")
-    execute_trajectory(hand_commander, close_thumb_no_id, joint_prefix, "Moving thumb to close position")
+    open_thumb = {'THJ1': 0.0, 'THJ2': 0.0, 'THJ3': 0.0, 'THJ4': 0.0, 'THJ5': 0.0}
+    open_fingers = {'FFJ1': 0.0, 'FFJ2': 0.0, 'FFJ3': 0.0, 'FFJ4': 0.0,
+                    'MFJ1': 0.0, 'MFJ2': 0.0, 'MFJ3': 0.0, 'MFJ4': 0.0,
+                    'RFJ1': 0.0, 'RFJ2': 0.0, 'RFJ3': 0.0, 'RFJ4': 0.0,
+                    'LFJ1': 0.0, 'LFJ2': 0.0, 'LFJ3': 0.0, 'LFJ4': 0.0, 'LFJ5': 0.0,
+                    'THJ1': 0.0, 'THJ2': 0.0, 'THJ3': 0.0, 'THJ4': 0.0, 'THJ5': 0.0,
+                    'WRJ1': 0.0, 'WRJ2': 0.0}
+    close_fingers = {'FFJ1': 1.5707, 'FFJ2': 1.5707, 'FFJ3': 1.5707, 'FFJ4': 0.0,
+                     'MFJ1': 1.5707, 'MFJ2': 1.5707, 'MFJ3': 1.5707, 'MFJ4': 0.0,
+                     'RFJ1': 1.5707, 'RFJ2': 1.5707, 'RFJ3': 1.5707, 'RFJ4': 0.0,
+                     'LFJ1': 1.5707, 'LFJ2': 1.5707, 'LFJ3': 1.5707, 'LFJ4': 0.0,
+                     'LFJ5': 0.0,
+                     'THJ1': 0.0, 'THJ2': 0.0, 'THJ3': 0.0, 'THJ4': 0.0, 'THJ5': 0.0,
+                     'WRJ1': 0.0, 'WRJ2': 0.0}
+    close_thumb = {'THJ1': 0.52, 'THJ2': 0.61, 'THJ3': 0.0, 'THJ4': 1.20, 'THJ5': 0.17}
+
+    execute_trajectory(hand_commander, open_thumb, joint_prefix, "Moving thumb to open position")
+    execute_trajectory(hand_commander, open_fingers, joint_prefix, "Moving fingers to open position")
+    execute_trajectory(hand_commander, close_fingers, joint_prefix, "Moving fingers to close position")
+    execute_trajectory(hand_commander, close_thumb, joint_prefix, "Moving thumb to close position")
diff --git a/sr_demos/scripts/sr_demos/open.py b/sr_demos/scripts/sr_demos/open.py
@@ -1,6 +1,6 @@
 #!/usr/bin/env python3
 
-# Copyright 2021 Shadow Robot Company Ltd.
+# Copyright 2021-2022 Shadow Robot Company Ltd.
 #
 # This program is free software: you can redistribute it and/or modify it
 # under the terms of the GNU General Public License as published by the Free
@@ -68,11 +68,13 @@ def execute_trajectory(hand_commander, joint_states_no_id, joint_prefix, msg, ti
 
     hand_commander = SrHandCommander(name=hand_name)
 
-    open_hand_no_id = {'FFJ1': 0.0, 'FFJ2': 0.0, 'FFJ3': 0.0, 'FFJ4': 0.0,
-                       'MFJ1': 0.0, 'MFJ2': 0.0, 'MFJ3': 0.0, 'MFJ4': 0.0,
-                       'RFJ1': 0.0, 'RFJ2': 0.0, 'RFJ3': 0.0, 'RFJ4': 0.0,
-                       'LFJ1': 0.0, 'LFJ2': 0.0, 'LFJ3': 0.0, 'LFJ4': 0.0, 'LFJ5': 0.0,
-                       'THJ1': 0.0, 'THJ2': 0.0, 'THJ3': 0.0, 'THJ4': 0.0, 'THJ5': 0.0,
-                       'WRJ1': 0.0, 'WRJ2': 0.0}
+    open_thumb = {'THJ1': 0.0, 'THJ2': 0.0, 'THJ3': 0.0, 'THJ4': 0.0, 'THJ5': 0.0}
+    open_fingers = {'FFJ1': 0.0, 'FFJ2': 0.0, 'FFJ3': 0.0, 'FFJ4': 0.0,
+                    'MFJ1': 0.0, 'MFJ2': 0.0, 'MFJ3': 0.0, 'MFJ4': 0.0,
+                    'RFJ1': 0.0, 'RFJ2': 0.0, 'RFJ3': 0.0, 'RFJ4': 0.0,
+                    'LFJ1': 0.0, 'LFJ2': 0.0, 'LFJ3': 0.0, 'LFJ4': 0.0, 'LFJ5': 0.0,
+                    'THJ1': 0.0, 'THJ2': 0.0, 'THJ3': 0.0, 'THJ4': 0.0, 'THJ5': 0.0,
+                    'WRJ1': 0.0, 'WRJ2': 0.0}
 
-    execute_trajectory(hand_commander, open_hand_no_id, joint_prefix, "Moving to open position")
+    execute_trajectory(hand_commander, open_thumb, joint_prefix, "Moving thumb to open position")
+    execute_trajectory(hand_commander, open_fingers, joint_prefix, "Moving fingers to open position")