Variables
	anonymous

	arm_commander = SrArmCommander(name="right_arm")

dictionary	arm_hand_home_joints_goal

dictionary	arm_home_joints_goal

	arm_to_home_plan = arm_commander.plan_to_joint_value_target(arm_home_joints_goal)

	arm_to_home_plan_quality = arm_commander.evaluate_given_plan(arm_to_home_plan)

	eval_arm_home_plan_quality = arm_commander.evaluate_plan_quality(arm_to_home_plan_quality)

dictionary	hand_arm_joints_goal_1

dictionary	hand_arm_joints_goal_2

	hand_commander = SrHandCommander(name="right_hand")

	robot_commander = SrRobotCommander(name="right_arm_and_hand")

Variable Documentation

◆ anonymous

sr_right_hand_arm_joint_pos.anonymous

Definition at line 41 of file sr_right_hand_arm_joint_pos.py.

◆ arm_commander

sr_right_hand_arm_joint_pos.arm_commander = SrArmCommander(name="right_arm")

Definition at line 47 of file sr_right_hand_arm_joint_pos.py.

◆ arm_hand_home_joints_goal

dictionary sr_right_hand_arm_joint_pos.arm_hand_home_joints_goal

Initial value:

 =  {'ra_shoulder_pan_joint': 0.00, 'ra_elbow_joint': 2.00,
                              'ra_shoulder_lift_joint': -1.25, 'ra_wrist_1_joint': -0.733,
                              'ra_wrist_2_joint': 1.5708, 'ra_wrist_3_joint': 0.00,
                              'rh_THJ1': 0.52, 'rh_THJ2': 0.61, 'rh_THJ3': 0.0, 'rh_THJ4': 1.20,
                              'rh_THJ5': 0.17, 'rh_FFJ1': 1.5707, 'rh_FFJ2': 1.5707, 'rh_FFJ3': 1.5707,
                              'rh_FFJ4': 0.0, 'rh_MFJ1': 1.5707, 'rh_MFJ2': 1.5707, 'rh_MFJ3': 1.5707,
                              'rh_MFJ4': 0.0, 'rh_RFJ1': 1.5707, 'rh_RFJ2': 1.5707, 'rh_RFJ3': 1.5707,
                              'rh_RFJ4': 0.0, 'rh_LFJ1': 1.5707, 'rh_LFJ2': 1.5707, 'rh_LFJ3': 1.5707,
                              'rh_LFJ4': 0.0, 'rh_LFJ5': 0.0, 'rh_WRJ1': 0.0, 'rh_WRJ2': 0.0}

Definition at line 57 of file sr_right_hand_arm_joint_pos.py.

◆ arm_home_joints_goal

dictionary sr_right_hand_arm_joint_pos.arm_home_joints_goal

Initial value:

 =  {'ra_shoulder_pan_joint': 0.00, 'ra_elbow_joint': 2.00,
                         'ra_shoulder_lift_joint': -1.25, 'ra_wrist_1_joint': -0.733,
                         'ra_wrist_2_joint': 1.5708, 'ra_wrist_3_joint': 0.00}

Definition at line 53 of file sr_right_hand_arm_joint_pos.py.

◆ arm_to_home_plan

sr_right_hand_arm_joint_pos.arm_to_home_plan = arm_commander.plan_to_joint_value_target(arm_home_joints_goal)

Definition at line 90 of file sr_right_hand_arm_joint_pos.py.

◆ arm_to_home_plan_quality

sr_right_hand_arm_joint_pos.arm_to_home_plan_quality = arm_commander.evaluate_given_plan(arm_to_home_plan)

Definition at line 91 of file sr_right_hand_arm_joint_pos.py.

◆ eval_arm_home_plan_quality

sr_right_hand_arm_joint_pos.eval_arm_home_plan_quality = arm_commander.evaluate_plan_quality(arm_to_home_plan_quality)

Definition at line 92 of file sr_right_hand_arm_joint_pos.py.

◆ hand_arm_joints_goal_1

dictionary sr_right_hand_arm_joint_pos.hand_arm_joints_goal_1

Initial value:

 =  {'rh_FFJ1': 1.57, 'rh_FFJ2': 1.57, 'rh_FFJ3': 1.574, 'rh_FFJ4': -0.00,
                           'rh_THJ4': -0.00, 'rh_THJ5': 6.49, 'rh_THJ1': -1.49, 'rh_THJ2': 4.72,
                           'rh_THJ3': 3.19, 'rh_LFJ2': 1.57, 'rh_LFJ3': 1.57, 'rh_LFJ1': 1.57,
                           'rh_LFJ4': 0.00, 'rh_LFJ5': -3.13, 'rh_RFJ4': -0.00, 'rh_RFJ1': 1.57,
                           'rh_RFJ2': 1.57, 'rh_RFJ3': 1.57, 'rh_MFJ1': 1.57, 'rh_MFJ3': 1.57,
                           'rh_MFJ2': 1.57, 'rh_MFJ4': -0.00, 'rh_WRJ2': -1.29, 'rh_WRJ1': 0.00,
                           'ra_shoulder_pan_joint': 0.00, 'ra_elbow_joint': 2.00,
                           'ra_shoulder_lift_joint': -1.57, 'ra_wrist_3_joint': 0.00}

Definition at line 67 of file sr_right_hand_arm_joint_pos.py.

◆ hand_arm_joints_goal_2

dictionary sr_right_hand_arm_joint_pos.hand_arm_joints_goal_2

Initial value:

 =  {'rh_FFJ1': -0.00, 'rh_FFJ2': 1.31, 'rh_FFJ3': 1.36, 'rh_FFJ4': -0.00,
                           'rh_MFJ1': 0.42, 'rh_MFJ2': 1.57, 'rh_MFJ3': 1.21, 'rh_MFJ4': 0.0,
                           'rh_RFJ1': -0.00, 'rh_RFJ2': 1.5707, 'rh_RFJ3': 1.41, 'rh_RFJ4': -0.00,
                           'rh_LFJ1': 1.57, 'rh_LFJ2': 0.84, 'rh_LFJ3': 0.36, 'rh_LFJ4': 0.22,
                           'rh_LFJ5': 0.19, 'rh_THJ1': 0.0, 'rh_THJ2': 0.0, 'rh_THJ3': 0.0,
                           'rh_THJ4': 0.0, 'rh_THJ5': 0.0, 'rh_WRJ1': 0.6, 'rh_WRJ2': 0.0,
                           'ra_shoulder_pan_joint': 0.00, 'ra_elbow_joint': 2.10,
                           'ra_shoulder_lift_joint': -1.4, 'ra_wrist_1_joint': -0.733,
                           'ra_wrist_2_joint': 1.5708, 'ra_wrist_3_joint': 0.00}