1import logging; logger = logging.getLogger("morse." + __name__)
2logger.setLevel(logging.DEBUG)
3
4from morse.core.services import service
5from morse.core.overlay import MorseOverlay
6from morse.middleware.pocolibs_datastream import DummyPoster
7
8
9class Fingers(MorseOverlay):
10    def __init__(self, overlaid_object):
11        # Call the constructor of the parent class
12        MorseOverlay.__init__(self, overlaid_object)
13        self.ctrl = DummyPoster('fingerCntrl')
14
15    def name(self):
16        return "fingers"
17
18    @service
19    def Init(self, grasped, mode):
20        pass
21
22    @service
23    def OpenGrip(self):
24        self.overlaid_object.release()
25
26    @service
27    def CloseGrip(self):
28        grasped = self.overlaid_object.grab()
29        if grasped:
30            return [1]
31        else:
32            return [0]
33
34
35
36