{"action":"created","comment":{"url":"https://api.github.com/repos/personalrobotics/herbpy/pulls/comments/62929553","id":62929553,"diff_hunk":"@@ -0,0 +1,256 @@\n+#!/usr/bin/env python\n+\n+# Copyright (c) 2013, Carnegie Mellon University\n+# All rights reserved.\n+# Authors: Michael Koval <mkoval@cs.cmu.edu>\n+#\n+# Redistribution and use in source and binary forms, with or without\n+# modification, are permitted provided that the following conditions are met:\n+#\n+# - Redistributions of source code must retain the above copyright notice, this\n+#   list of conditions and the following disclaimer.\n+# - Redistributions in binary form must reproduce the above copyright notice,\n+#   this list of conditions and the following disclaimer in the documentation\n+#   and/or other materials provided with the distribution.\n+# - Neither the name of Carnegie Mellon University nor the names of its\n+#   contributors may be used to endorse or promote products derived from this\n+#   software without specific prior written permission.\n+#\n+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS \"AS IS\"\n+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE\n+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE\n+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE\n+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR\n+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF\n+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS\n+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN\n+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)\n+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE\n+# POSSIBILITY OF SUCH DAMAGE.\n+\n+import numpy, openravepy, time\n+from prpy import util\n+from prpy.base.endeffector import EndEffector\n+from prpy.controllers import (\n+    PositionCommandController, TriggerController)\n+from geometry_msgs.msg import WrenchStamped\n+\n+\n+class BarrettHand(EndEffector):\n+\n+    def __init__(self, sim, manipulator, bhd_namespace, ft_sim=True):\n+        \"\"\"End-effector wrapper for the BarrettHand.\n+        This class wraps a BarrettHand end-effector that is controlled by BHD\n+        or OWD. The or_owd_controller, or_handstate_sensor, and\n+        or_barrett_ft_sensor packages are used to communicate with the\n+        underlying hardware drivers through ROS. Note that some methods (e.g.\n+        reading breakaway status) are not supported on the BH-262.\n+        @param sim whether the hand is simulated\n+        @param manipulator manipulator the hand is attached to\n+        @param bhd_namespace ROS namespace that the BarrettHand driver is running in\n+        @param ft_sim whether the force/torque sensor is simulated\n+        \"\"\"\n+        EndEffector.__init__(self, manipulator)\n+        self.simulated = sim\n+\n+        # Set the closing direction of the hand. This is only really necessary\n+        # for the programmatically loaded HERB model. We can't easily specify\n+        # ClosingDirection in URDF or SRDF.\n+        gripper_indices = manipulator.GetGripperIndices()\n+        closing_direction = numpy.zeros(len(gripper_indices))\n+        finger_indices = self.GetFingerIndices()\n+\n+        for i, dof_index in enumerate(gripper_indices):\n+            if dof_index in finger_indices:\n+                closing_direction[i] = 1.\n+\n+        manipulator.SetChuckingDirection(closing_direction)\n+\n+        robot = self.manipulator.GetRobot()\n+        env = robot.GetEnv()\n+\n+        # Controller setup\n+        self.bhd_namespace = bhd_namespace\n+        self.hand_side = bhd_namespace[1:]  # TODO hand name hack\n+        if not sim:\n+            self.controller = PositionCommandController('', self.hand_side +\n+                                                        '_hand_controller')\n+        else:\n+            self.controller = robot.AttachController(name=self.GetName(),\n+                                                     args='IdealController',\n+                                                     dof_indices=self.GetIndices(),\n+                                                     affine_dofs=0,\n+                                                     simulated=sim)\n+\n+        self.ft_simulated = ft_sim\n+        self.ft_tare_controller = TriggerController('', self.hand_side +\n+                                                    '_tare_controller',\n+                                                    ft_sim)\n+\n+        # TODO tactile sensors\n+\n+    def GetSpreadIndex(self):\n+        \"\"\" Gets the DOF index of the spread joint.\n+        @return DOF index of the spread joint\n+        \"\"\"\n+        return self._GetJointFromName('j00').GetDOFIndex()\n+\n+    def GetFingerIndices(self):\n+        \"\"\" Gets the DOF indices of the fingers.\n+        These are returned in the order: [ finger 0, finger 1, and finger 2 ].\n+        @return DOF indices of the fingers\n+        \"\"\"\n+        names = [ 'j01', 'j11', 'j21' ]\n+        return [ self._GetJointFromName(name).GetDOFIndex() for name in names ]\n+\n+    def GetIndices(self):\n+        \"\"\" Gets the DOF indices of this hand.\n+        For compatability with OWD, the indices are always returned in the\n+        order: [ finger 0, finger 1, finger 2, spread ].\n+        @return DOF indices of the hand\n+        \"\"\"\n+        return self.GetFingerIndices() + [ self.GetSpreadIndex() ]\n+\n+    def MoveHand(self, f1=None, f2=None, f3=None, spread=None, timeout=None):\n+        \"\"\"Change the hand preshape.\n+        Joints that are not specified will not move. This function blocks until\n+        the hand has reached the desired configuration or a timeout occurs.\n+        Specifying a timeout of a finishes.  Specifying a timeout of None\n+        blocks forever and a timeout of zero returns instantly.  Note that the\n+        fingers are not collision-checked in simulation and may penetrate\n+        objects in the environment.\n+        @param f1 finger 1 angle, in radians\n+        @param f2 finger 2 angle, in radians\n+        @param f3 finger 3 angle, in radians\n+        @param spread spread angle, in radians\n+        @param timeout blocking execution timeout, in seconds\n+        \"\"\"\n+        # Default any None's to the current DOF values.\n+        preshape = self.GetDOFValues()\n+        if f1     is not None: preshape[0] = f1\n+        if f2     is not None: preshape[1] = f2\n+        if f3     is not None: preshape[2] = f3\n+        if spread is not None: preshape[3] = spread\n+\n+        self.controller.SetPosition(preshape)\n+        util.WaitForControllers([ self.controller ], timeout=timeout)\n+\n+    def OpenHand(hand, spread=None, timeout=None):\n+        \"\"\"Open the hand with a fixed spread.\n+        This function blocks until the hand has reached the desired\n+        configuration or a timeout occurs. Specifying a timeout of a finishes.\n+        Specifying a timeout of None blocks forever and a timeout of zero\n+        returns instantly. Each finger is individually collision-checked in\n+        simulation and will stop if it collides with the environment.\n+        @param spread hand spread in radians; defaults to the current spread\n+        @param timeout blocking execution timeout, in seconds\n+        \"\"\"\n+        if hand.simulated:\n+            robot = hand.manipulator.GetRobot()\n+            p = openravepy.KinBody.SaveParameters\n+\n+            with robot.CreateRobotStateSaver(p.ActiveDOF | p.ActiveManipulator):\n+                hand.manipulator.SetActive()\n+                robot.task_manipulation.ReleaseFingers()\n+\n+            util.WaitForControllers([ hand.controller ], timeout=timeout)\n+        else:\n+            hand.MoveHand(f1=0.0, f2=0.0, f3=0.0, spread=spread, timeout=timeout)\n+\n+    def CloseHand(hand, spread=None, timeout=None):\n+        \"\"\"Close the hand with a fixed spread.\n+        This function blocks until the hand has reached the desired\n+        configuration or a timeout occurs. Specifying a timeout of a finishes.\n+        Specifying a timeout of None blocks forever and a timeout of zero\n+        returns instantly. Each finger is individually collision-checked in\n+        simulation and will stop if it collides with the environment.\n+        @param spread hand spread in radians; defaults to the current spread\n+        @param timeout blocking execution timeout, in seconds\n+        \"\"\"\n+        if hand.simulated:\n+            robot = hand.manipulator.GetRobot()\n+            p = openravepy.KinBody.SaveParameters\n+\n+            with robot.CreateRobotStateSaver(p.ActiveDOF | p.ActiveManipulator):\n+                hand.manipulator.SetActive()\n+                robot.task_manipulation.CloseFingers()\n+\n+            util.WaitForControllers([ hand.controller ], timeout=timeout)\n+        else:\n+            hand.MoveHand(f1=3.2, f2=3.2, f3=3.2, spread=spread, timeout=timeout)\n+\n+    def ResetHand(hand):\n+        \"\"\"Reset the hand.\n+        This calls a low-level service to drive the fingers open with constant\n+        torque. Resetting the hand is the only method that is guaranteed to\n+        clear the fingers' breakaway state. This function blocks until the\n+        reset is complete.\n+        \"\"\"\n+        raise NotImplementedError('ResetHand not yet implemented under ros_control.')\n+\n+    def GetState(hand):\n+        \"\"\"Gets the current state of the hand\n+        \"\"\"\n+        if hand.simulated:\n+            return 'done'\n+        else:\n+            # TODO: We're missing documentation here. What is the \"current\n+            # state\" of the hand? How do we interpret the return value?\n+            # return hand.handstate_sensor.SendCommand('GetState')\n+            raise NotImplementedError(\"Hand.GetState() not yet implemented under ros_control.\")\n+\n+    def GetStrain(hand):\n+        \"\"\" Gets the most recent strain sensor readings.\n+        @return list of strain gauge values for each finger\n+        \"\"\"\n+        if not hand.simulated:\n+            # This is because we are overriding the force/torque sensor datatype\n+            # sensor_data = hand.handstate_sensor.GetSensorData()\n+            # return sensor_data.force.copy()\n+            raise NotImplementedError(\"Strain guage not yet implemented in Python under ros_control\")","path":"src/herbpy/barretthand.py","position":210,"original_position":210,"commit_id":"4d53c8821301467a68b68b12d1a9e25efcc99d06","original_commit_id":"4d53c8821301467a68b68b12d1a9e25efcc99d06","user":{"login":"mkoval","id":142251,"avatar_url":"https://avatars.githubusercontent.com/u/142251?v=3","gravatar_id":"","url":"https://api.github.com/users/mkoval","html_url":"https://github.com/mkoval","followers_url":"https://api.github.com/users/mkoval/followers","following_url":"https://api.github.com/users/mkoval/following{/other_user}","gists_url":"https://api.github.com/users/mkoval/gists{/gist_id}","starred_url":"https://api.github.com/users/mkoval/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/mkoval/subscriptions","organizations_url":"https://api.github.com/users/mkoval/orgs","repos_url":"https://api.github.com/users/mkoval/repos","events_url":"https://api.github.com/users/mkoval/events{/privacy}","received_events_url":"https://api.github.com/users/mkoval/received_events","type":"User","site_admin":false},"body":"Also, delete dead code.","created_at":"2016-05-11T21:23:32Z","updated_at":"2016-05-11T21:23:32Z","html_url":"https://github.com/personalrobotics/herbpy/pull/63#discussion_r62929553","pull_request_url":"https://api.github.com/repos/personalrobotics/herbpy/pulls/63","_links":{"self":{"href":"https://api.github.com/repos/personalrobotics/herbpy/pulls/comments/62929553"},"html":{"href":"https://github.com/personalrobotics/herbpy/pull/63#discussion_r62929553"},"pull_request":{"href":"https://api.github.com/repos/personalrobotics/herbpy/pulls/63"}}},"pull_request":{"url":"https://api.github.com/repos/personalrobotics/herbpy/pulls/63","id":51719757,"html_url":"https://github.com/personalrobotics/herbpy/pull/63","diff_url":"https://github.com/personalrobotics/herbpy/pull/63.diff","patch_url":"https://github.com/personalrobotics/herbpy/pull/63.patch","issue_url":"https://api.github.com/repos/personalrobotics/herbpy/issues/63","number":63,"state":"open","locked":false,"title":"HERB ros_control migration","user":{"login":"ClintLiddick","id":6076080,"avatar_url":"https://avatars.githubusercontent.com/u/6076080?v=3","gravatar_id":"","url":"https://api.github.com/users/ClintLiddick","html_url":"https://github.com/ClintLiddick","followers_url":"https://api.github.com/users/ClintLiddick/followers","following_url":"https://api.github.com/users/ClintLiddick/following{/other_user}","gists_url":"https://api.github.com/users/ClintLiddick/gists{/gist_id}","starred_url":"https://api.github.com/users/ClintLiddick/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/ClintLiddick/subscriptions","organizations_url":"https://api.github.com/users/ClintLiddick/orgs","repos_url":"https://api.github.com/users/ClintLiddick/repos","events_url":"https://api.github.com/users/ClintLiddick/events{/privacy}","received_events_url":"https://api.github.com/users/ClintLiddick/received_events","type":"User","site_admin":false},"body":"@mkoval minimal changes to match the update to prpy","created_at":"2015-11-24T21:29:56Z","updated_at":"2016-05-11T21:23:32Z","closed_at":null,"merged_at":null,"merge_commit_sha":"2902851a91d8e0e9c528ecef21e65ac6fe9e2580","assignee":null,"milestone":null,"commits_url":"https://api.github.com/repos/personalrobotics/herbpy/pulls/63/commits","review_comments_url":"https://api.github.com/repos/personalrobotics/herbpy/pulls/63/comments","review_comment_url":"https://api.github.com/repos/personalrobotics/herbpy/pulls/comments{/number}","comments_url":"https://api.github.com/repos/personalrobotics/herbpy/issues/63/comments","statuses_url":"https://api.github.com/repos/personalrobotics/herbpy/statuses/4d53c8821301467a68b68b12d1a9e25efcc99d06","head":{"label":"personalrobotics:feature/ros_control","ref":"feature/ros_control","sha":"4d53c8821301467a68b68b12d1a9e25efcc99d06","user":{"login":"personalrobotics","id":4705918,"avatar_url":"https://avatars.githubusercontent.com/u/4705918?v=3","gravatar_id":"","url":"https://api.github.com/users/personalrobotics","html_url":"https://github.com/personalrobotics","followers_url":"https://api.github.com/users/personalrobotics/followers","following_url":"https://api.github.com/users/personalrobotics/following{/other_user}","gists_url":"https://api.github.com/users/personalrobotics/gists{/gist_id}","starred_url":"https://api.github.com/users/personalrobotics/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/personalrobotics/subscriptions","organizations_url":"https://api.github.com/users/personalrobotics/orgs","repos_url":"https://api.github.com/users/personalrobotics/repos","events_url":"https://api.github.com/users/personalrobotics/events{/privacy}","received_events_url":"https://api.github.com/users/personalrobotics/received_events","type":"Organization","site_admin":false},"repo":{"id":21153263,"name":"herbpy","full_name":"personalrobotics/herbpy","owner":{"login":"personalrobotics","id":4705918,"avatar_url":"https://avatars.githubusercontent.com/u/4705918?v=3","gravatar_id":"","url":"https://api.github.com/users/personalrobotics","html_url":"https://github.com/personalrobotics","followers_url":"https://api.github.com/users/personalrobotics/followers","following_url":"https://api.github.com/users/personalrobotics/following{/other_user}","gists_url":"https://api.github.com/users/personalrobotics/gists{/gist_id}","starred_url":"https://api.github.com/users/personalrobotics/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/personalrobotics/subscriptions","organizations_url":"https://api.github.com/users/personalrobotics/orgs","repos_url":"https://api.github.com/users/personalrobotics/repos","events_url":"https://api.github.com/users/personalrobotics/events{/privacy}","received_events_url":"https://api.github.com/users/personalrobotics/received_events","type":"Organization","site_admin":false},"private":false,"html_url":"https://github.com/personalrobotics/herbpy","description":"Python 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