Grasp.py

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#!/usr/bin/env python
#
# Copyright 2011 Shadow Robot Company Ltd.
#
# This program is free software: you can redistribute it and/or modify it
# under the terms of the GNU General Public License as published by the Free
# Software Foundation, either version 2 of the License, or (at your option)
# any later version.
#
# This program is distributed in the hope that it will be useful, but WITHOUT
# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
# FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
# more details.
#
# You should have received a copy of the GNU General Public License along
# with this program.  If not, see <http://www.gnu.org/licenses/>.
#

VERBOSE = 1

class Grasp:
        def __init__(self):
                self.grasp_name = ""
                self.joints_and_positions = {}

        def display_grasp(self):
                print self.grasp_name
                print self.joints_and_positions

        def convert_to_xml(self):
                grasp = '       <grasp name="'+self.grasp_name+'">'+'\n'
                for key, value in self.joints_and_positions.items():
                        grasp = grasp + '               <joint name="'+str(key)+'">'+str(value)+'</joint>\n'
                grasp = grasp + '       </grasp>'+'\n'
                return grasp