sr_right_hand_partial_traj_grasp Namespace Reference

Functions
def	construct_trajectory_point (posture, duration)

Variables
	anonymous
dictionary	grasp_partial_1 = {'rh_FFJ3': 0.50}
	grasp_pose = dict(zip(keys, position))
	grasp_pose_current = dict([(i, grasp_pose[i]) for i in joints if i in grasp_pose])
	hand_commander
	hand_finder = HandFinder()
	hand_mapping = hand_parameters.mapping[hand_serial]
	hand_parameters = hand_finder.get_hand_parameters()
	hand_serial = hand_parameters.mapping.keys()[0]
	joint_names
	joint_trajectory = JointTrajectory()
	joints = hand_finder.get_hand_joints()[hand_mapping]
list	keys
dictionary	open_hand
	open_hand_current = dict([(i, open_hand[i]) for i in joints if i in open_hand])
	points
list	position
	stamp
	start_time = rospy.Time.now()
	trajectory_point = construct_trajectory_point(grasp_partial_1, 1.0)
float	trajectory_start_time = 2.0

Function Documentation

def sr_right_hand_partial_traj_grasp.construct_trajectory_point	(		posture,
			duration
	)

Definition at line 30 of file sr_right_hand_partial_traj_grasp.py.

Variable Documentation

sr_right_hand_partial_traj_grasp.anonymous

Definition at line 26 of file sr_right_hand_partial_traj_grasp.py.

dictionary sr_right_hand_partial_traj_grasp.grasp_partial_1 = {'rh_FFJ3': 0.50}

Definition at line 74 of file sr_right_hand_partial_traj_grasp.py.

sr_right_hand_partial_traj_grasp.grasp_pose = dict(zip(keys, position))

Definition at line 67 of file sr_right_hand_partial_traj_grasp.py.

sr_right_hand_partial_traj_grasp.grasp_pose_current = dict([(i, grasp_pose[i]) for i in joints if i in grasp_pose])

Definition at line 71 of file sr_right_hand_partial_traj_grasp.py.

sr_right_hand_partial_traj_grasp.hand_commander

Initial value:

= SrHandCommander(hand_parameters=hand_parameters,
                                 hand_serial=hand_serial)

Definition at line 42 of file sr_right_hand_partial_traj_grasp.py.

sr_right_hand_partial_traj_grasp.hand_finder = HandFinder()

Definition at line 37 of file sr_right_hand_partial_traj_grasp.py.

sr_right_hand_partial_traj_grasp.hand_mapping = hand_parameters.mapping[hand_serial]

Definition at line 45 of file sr_right_hand_partial_traj_grasp.py.

sr_right_hand_partial_traj_grasp.hand_parameters = hand_finder.get_hand_parameters()

Definition at line 39 of file sr_right_hand_partial_traj_grasp.py.

sr_right_hand_partial_traj_grasp.hand_serial = hand_parameters.mapping.keys()[0]

Definition at line 40 of file sr_right_hand_partial_traj_grasp.py.

sr_right_hand_partial_traj_grasp.joint_names

Definition at line 91 of file sr_right_hand_partial_traj_grasp.py.

sr_right_hand_partial_traj_grasp.joint_trajectory = JointTrajectory()

Definition at line 87 of file sr_right_hand_partial_traj_grasp.py.

sr_right_hand_partial_traj_grasp.joints = hand_finder.get_hand_joints()[hand_mapping]

Definition at line 48 of file sr_right_hand_partial_traj_grasp.py.

list sr_right_hand_partial_traj_grasp.keys

Initial value:

= ['rh_FFJ1', 'rh_FFJ2', 'rh_FFJ3', 'rh_FFJ4', 'rh_LFJ1', 'rh_LFJ2',
        'rh_LFJ3', 'rh_LFJ4', 'rh_LFJ5', 'rh_MFJ1', 'rh_MFJ2', 'rh_MFJ3',
        'rh_MFJ4', 'rh_RFJ1', 'rh_RFJ2', 'rh_RFJ3', 'rh_RFJ4', 'rh_THJ1',
        'rh_THJ2', 'rh_THJ3', 'rh_THJ4', 'rh_THJ5']

Definition at line 57 of file sr_right_hand_partial_traj_grasp.py.

dictionary sr_right_hand_partial_traj_grasp.open_hand

Initial value:

= {'rh_FFJ1': 0.0, 'rh_FFJ2': 0.0, 'rh_FFJ3': 0.0, 'rh_FFJ4': 0.0,
             'rh_MFJ1': 0.0, 'rh_MFJ2': 0.0, 'rh_MFJ3': 0.0, 'rh_MFJ4': 0.0,
             'rh_RFJ1': 0.0, 'rh_RFJ2': 0.0, 'rh_RFJ3': 0.0, 'rh_RFJ4': 0.0,
             'rh_LFJ1': 0.0, 'rh_LFJ2': 0.0, 'rh_LFJ3': 0.0, 'rh_LFJ4': 0.0,
             'rh_LFJ5': 0.0, 'rh_THJ1': 0.0, 'rh_THJ2': 0.0, 'rh_THJ3': 0.0,
             'rh_THJ4': 0.0, 'rh_THJ5': 0.0}

Definition at line 50 of file sr_right_hand_partial_traj_grasp.py.

sr_right_hand_partial_traj_grasp.open_hand_current = dict([(i, open_hand[i]) for i in joints if i in open_hand])

Definition at line 70 of file sr_right_hand_partial_traj_grasp.py.

sr_right_hand_partial_traj_grasp.points

Definition at line 92 of file sr_right_hand_partial_traj_grasp.py.

list sr_right_hand_partial_traj_grasp.position

Initial value:

= [1.07, 0.26, 0.88, -0.34, 0.85, 0.60,
            0.21, -0.23, 0.15, 1.06, 0.16, 1.04,
            0.05, 1.04, 0.34, 0.68, -0.24, 0.35,
            0.69, 0.18, 1.20, -0.11]

Definition at line 62 of file sr_right_hand_partial_traj_grasp.py.

sr_right_hand_partial_traj_grasp.stamp

Definition at line 90 of file sr_right_hand_partial_traj_grasp.py.

sr_right_hand_partial_traj_grasp.start_time = rospy.Time.now()

Definition at line 76 of file sr_right_hand_partial_traj_grasp.py.

sr_right_hand_partial_traj_grasp.trajectory_point = construct_trajectory_point(grasp_partial_1, 1.0)

Definition at line 93 of file sr_right_hand_partial_traj_grasp.py.

float sr_right_hand_partial_traj_grasp.trajectory_start_time = 2.0

Definition at line 86 of file sr_right_hand_partial_traj_grasp.py.