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