Classes
class	PartialTrajListener

Functions
def	construct_trajectory_point (posture, duration)

Variables
	anonymous

	finish_goals

bool	graphs_finished = False

dictionary	grasp1

	grasp1_current = dict([(i, grasp1[i]) for i in joints if i in grasp1])

dictionary	grasp2

	grasp2_current = dict([(i, grasp2[i]) for i in joints if i in grasp2])

dictionary	grasp3

	grasp3_current = dict([(i, grasp3[i]) for i in joints if i in grasp3])

dictionary	grasp4

	grasp4_current = dict([(i, grasp4[i]) for i in joints if i in grasp4])

dictionary	grasp5

	grasp5_current = dict([(i, grasp5[i]) for i in joints if i in grasp5])

dictionary	grasp_partial_1 = {'rh_FFJ3': 1.06}

dictionary	grasp_partial_2 = {'rh_FFJ3': 1.2}

	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]

	listener = PartialTrajListener()

dictionary	open_hand

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

	points

	rate = rospy.Rate(10)

	stamp

	start_time = rospy.Time.now()

	trajectory_point = construct_trajectory_point(open_hand_current, 1.0)

float	trajectory_start_time = 1.0

Function Documentation

def sr_right_hand_partial_traj_advanced.construct_trajectory_point	(	posture,
		duration
	)

Definition at line 200 of file sr_right_hand_partial_traj_advanced.py.

Variable Documentation

sr_right_hand_partial_traj_advanced.anonymous

Definition at line 255 of file sr_right_hand_partial_traj_advanced.py.

sr_right_hand_partial_traj_advanced.finish_goals

Definition at line 335 of file sr_right_hand_partial_traj_advanced.py.

bool sr_right_hand_partial_traj_advanced.graphs_finished = False

Definition at line 326 of file sr_right_hand_partial_traj_advanced.py.

dictionary sr_right_hand_partial_traj_advanced.grasp1

Initial value:

 = {'rh_FFJ1': 0.0, 'rh_FFJ2': 0.0, 'rh_FFJ3': 0.5235, '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': 0.5235, '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 215 of file sr_right_hand_partial_traj_advanced.py.

sr_right_hand_partial_traj_advanced.grasp1_current = dict([(i, grasp1[i]) for i in joints if i in grasp1])

Definition at line 274 of file sr_right_hand_partial_traj_advanced.py.

dictionary sr_right_hand_partial_traj_advanced.grasp2

Initial value:

 = {'rh_FFJ1': 0.0, 'rh_FFJ2': 0.0, 'rh_FFJ3': 1.0472, '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': 1.0472, '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 222 of file sr_right_hand_partial_traj_advanced.py.

sr_right_hand_partial_traj_advanced.grasp2_current = dict([(i, grasp2[i]) for i in joints if i in grasp2])

Definition at line 275 of file sr_right_hand_partial_traj_advanced.py.

dictionary sr_right_hand_partial_traj_advanced.grasp3

Initial value:

 = {'rh_FFJ1': 0.0, 'rh_FFJ2': 0.0, 'rh_FFJ3': 1.4, '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': 1.4, '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 229 of file sr_right_hand_partial_traj_advanced.py.

sr_right_hand_partial_traj_advanced.grasp3_current = dict([(i, grasp3[i]) for i in joints if i in grasp3])

Definition at line 276 of file sr_right_hand_partial_traj_advanced.py.

dictionary sr_right_hand_partial_traj_advanced.grasp4

Initial value:

 = {'rh_FFJ1': 0.0, 'rh_FFJ2': 0.0, 'rh_FFJ3': 1.5, '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': 1.5, '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 236 of file sr_right_hand_partial_traj_advanced.py.

sr_right_hand_partial_traj_advanced.grasp4_current = dict([(i, grasp4[i]) for i in joints if i in grasp4])

Definition at line 277 of file sr_right_hand_partial_traj_advanced.py.

dictionary sr_right_hand_partial_traj_advanced.grasp5

Initial value:

 = {'rh_FFJ1': 0.0, 'rh_FFJ2': 0.0, 'rh_FFJ3': 1.5707, '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': 1.5707, '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 243 of file sr_right_hand_partial_traj_advanced.py.

sr_right_hand_partial_traj_advanced.grasp5_current = dict([(i, grasp5[i]) for i in joints if i in grasp5])

Definition at line 278 of file sr_right_hand_partial_traj_advanced.py.

dictionary sr_right_hand_partial_traj_advanced.grasp_partial_1 = {'rh_FFJ3': 1.06}

Definition at line 251 of file sr_right_hand_partial_traj_advanced.py.

dictionary sr_right_hand_partial_traj_advanced.grasp_partial_2 = {'rh_FFJ3': 1.2}

Definition at line 252 of file sr_right_hand_partial_traj_advanced.py.

sr_right_hand_partial_traj_advanced.hand_commander

Initial value:

1 = SrHandCommander(hand_parameters=hand_parameters,

2 hand_serial=hand_serial)

Definition at line 264 of file sr_right_hand_partial_traj_advanced.py.

sr_right_hand_partial_traj_advanced.hand_finder = HandFinder()

Definition at line 259 of file sr_right_hand_partial_traj_advanced.py.

sr_right_hand_partial_traj_advanced.hand_mapping = hand_parameters.mapping[hand_serial]

Definition at line 267 of file sr_right_hand_partial_traj_advanced.py.

sr_right_hand_partial_traj_advanced.hand_parameters = hand_finder.get_hand_parameters()

Definition at line 261 of file sr_right_hand_partial_traj_advanced.py.

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

Definition at line 262 of file sr_right_hand_partial_traj_advanced.py.

sr_right_hand_partial_traj_advanced.joint_names

Definition at line 287 of file sr_right_hand_partial_traj_advanced.py.

sr_right_hand_partial_traj_advanced.joint_trajectory = JointTrajectory()

Definition at line 285 of file sr_right_hand_partial_traj_advanced.py.

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

Definition at line 270 of file sr_right_hand_partial_traj_advanced.py.

sr_right_hand_partial_traj_advanced.listener = PartialTrajListener()

Definition at line 258 of file sr_right_hand_partial_traj_advanced.py.

dictionary sr_right_hand_partial_traj_advanced.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}