sr_grasp::utils Namespace Reference

Functions
def	_fix_j0
def	mk_grasp
Variables
list	_sr_joint_names
list	_sr_joint_names_j0

---

Function Documentation

def sr_grasp.utils._fix_j0

(

joints

)

[private]

Convert joints targets using J1 and J2 to J0, which the controllers use.
Useful if using joint_states to get grasp joint positions.

Definition at line 41 of file utils.py.

def sr_grasp.utils.mk_grasp	(		joints,
			pre_joints = None,
			fix_j0 = False
	)

Generate a moveit_msgs/Grasp from a set of joint angles given as a dict
of joint_name -> position.

Definition at line 52 of file utils.py.

---

Variable Documentation

list sr_grasp::utils::_sr_joint_names

Initial value:

[
        'FFJ1', 'FFJ2', 'FFJ3', 'FFJ4',
        'LFJ1', 'LFJ2', 'LFJ3', 'LFJ4', 'LFJ5',
        'MFJ1', 'MFJ2', 'MFJ3', 'MFJ4',
        'RFJ1', 'RFJ2', 'RFJ3', 'RFJ4',
        'THJ1', 'THJ2', 'THJ3', 'THJ4', 'THJ5',
        'WRJ1', 'WRJ2']

Definition at line 25 of file utils.py.

list sr_grasp::utils::_sr_joint_names_j0

Initial value:

[
        'LFJ0', 'LFJ3', 'LFJ4', 'LFJ5',
        'RFJ0', 'RFJ3', 'RFJ4',
        'MFJ0', 'MFJ3', 'MFJ4',
        'FFJ0', 'FFJ3', 'FFJ4',
        'THJ1', 'THJ2', 'THJ3', 'THJ4', 'THJ5',
        'WRJ1', 'WRJ2']

Definition at line 33 of file utils.py.