sr_grasp.utils Namespace Reference

Functions
def	_fix_j0 (joints)
def	mk_grasp (joints, pre_joints=None, fix_j0=False)

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 38 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 50 of file utils.py.

Variable Documentation

list sr_grasp.utils._sr_joint_names

private

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 21 of file utils.py.

list sr_grasp.utils._sr_joint_names_j0

private

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 29 of file utils.py.