Public Member Functions | |
| def | __init__ |
| def | from_msg |
| def | from_yaml |
| def | set_grasp_point |
| def | set_pre_grasp_point |
| def | to_msg |
Public Attributes | |
| grasp_quality | |
| joint_names | |
Private Member Functions | |
| def | _set_posture_point |
Represents a single grasp, basically a wrapper around moveit_msgs/Grasp with added functions and Shadow Hand specific knowledge.
Definition at line 21 of file __init__.py.
| def sr_grasp.Grasp.__init__ | ( | self | ) |
Definition at line 26 of file __init__.py.
| def sr_grasp.Grasp._set_posture_point | ( | self, | |
| posture, | |||
| positions, | |||
point = 0 |
|||
| ) | [private] |
Set the posture positions using a dict of joint positions.
Definition at line 85 of file __init__.py.
| def sr_grasp.Grasp.from_msg | ( | cls, | |
| msg | |||
| ) |
Construct a shadow grasp object from moveit grasp object.
Definition at line 42 of file __init__.py.
| def sr_grasp.Grasp.from_yaml | ( | self, | |
| y | |||
| ) |
Construct a shadow grasp object from YAML object. For example YAML grabbed from rostopic to a file.
Definition at line 62 of file __init__.py.
| def sr_grasp.Grasp.set_grasp_point | ( | self, | |
| args, | |||
| kwargs | |||
| ) |
Set the positions for a point (default 0) in the grasp to a dict of joint positions.
Definition at line 78 of file __init__.py.
| def sr_grasp.Grasp.set_pre_grasp_point | ( | self, | |
| args, | |||
| kwargs | |||
| ) |
Set the positions for a point (default 0) in the pre-grasp to a dict of joint positions.
Definition at line 71 of file __init__.py.
| def sr_grasp.Grasp.to_msg | ( | self | ) |
Return plain moveit_msgs/Grasp version of self.
Definition at line 57 of file __init__.py.
Definition at line 26 of file __init__.py.
Definition at line 26 of file __init__.py.