YellowSaltCylinder_SDH.xml

<?xml version="1.0" ?>
<GraspList>
    <Hand>SDH</Hand>
    <Object>YellowSaltCylinder</Object>
    <Number>60</Number>
    <Grasp Index="0" Quality="0.076227">
        <ApproachPose>
            <PositionX>167.453000</PositionX>
            <PositionY>210.338000</PositionY>
            <PositionZ>74.794100</PositionZ>
            <Roll>-1.574700</Roll>
            <Pitch>-0.008459</Pitch>
            <Yaw>2.476420</Yaw>
        </ApproachPose>
        <ApproachJoint>
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            <MiddleFingerDistal>0.000000</MiddleFingerDistal>
            <RingFingerBase>0.000000</RingFingerBase>
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            <RingFingerDistal>0.988739</RingFingerDistal>
            <LittleFingerBase>0.000000</LittleFingerBase>
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            <LittleFingerDistal>0.000000</LittleFingerDistal>
        </ApproachJoint>
        <GraspPose>
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            <PositionY>113.205000</PositionY>
            <PositionZ>74.312200</PositionZ>
            <Roll>-1.574700</Roll>
            <Pitch>-0.008459</Pitch>
            <Yaw>2.476420</Yaw>
        </GraspPose>
        <GraspJoint>
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        </GraspJoint>
        <GraspOptimalJoint>
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        </GraspOptimalJoint>
    </Grasp>
    <Grasp Index="1" Quality="0.0917501">
        <ApproachPose>
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            <Roll>-2.003140</Roll>
            <Pitch>1.561480</Pitch>
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        </ApproachPose>
        <ApproachJoint>
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        </ApproachJoint>
        <GraspPose>
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        </GraspPose>
        <GraspJoint>
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        </GraspOptimalJoint>
    </Grasp>
    <Grasp Index="2" Quality="0.0773901">
        <ApproachPose>
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            <Roll>1.574700</Roll>
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        </ApproachPose>
        <ApproachJoint>
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        </ApproachJoint>
        <GraspPose>
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            <PositionZ>74.315000</PositionZ>
            <Roll>1.574700</Roll>
            <Pitch>0.008459</Pitch>
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        </GraspPose>
        <GraspJoint>
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        </GraspJoint>
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        </GraspOptimalJoint>
    </Grasp>
    <Grasp Index="3" Quality="0.139761">
        <ApproachPose>
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        </ApproachPose>
        <ApproachJoint>
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        </ApproachJoint>
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        </GraspPose>
        <GraspJoint>
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        </GraspJoint>
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    </Grasp>
    <Grasp Index="4" Quality="0.0402687">
        <ApproachPose>
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        </ApproachPose>
        <ApproachJoint>
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        <GraspJoint>
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            <FirstFingerProximal>-0.114449</FirstFingerProximal>
            <FirstFingerDistal>0.000000</FirstFingerDistal>
            <MiddleFingerBase>0.000000</MiddleFingerBase>
            <MiddleFingerProximal>0.000000</MiddleFingerProximal>
            <MiddleFingerDistal>0.000000</MiddleFingerDistal>
            <RingFingerBase>0.000000</RingFingerBase>
            <RingFingerProximal>-0.523599</RingFingerProximal>
            <RingFingerDistal>1.172140</RingFingerDistal>
            <LittleFingerBase>0.000000</LittleFingerBase>
            <LittleFingerProximal>0.000000</LittleFingerProximal>
            <LittleFingerDistal>0.000000</LittleFingerDistal>
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        <GraspOptimalJoint>
            <ThumbAngle>1.570800</ThumbAngle>
            <ThumbBase>0.000000</ThumbBase>
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            <FirstFingerBase>0.000000</FirstFingerBase>
            <FirstFingerProximal>-0.094449</FirstFingerProximal>
            <FirstFingerDistal>0.020000</FirstFingerDistal>
            <MiddleFingerBase>0.000000</MiddleFingerBase>
            <MiddleFingerProximal>0.000000</MiddleFingerProximal>
            <MiddleFingerDistal>0.000000</MiddleFingerDistal>
            <RingFingerBase>0.000000</RingFingerBase>
            <RingFingerProximal>-0.503599</RingFingerProximal>
            <RingFingerDistal>1.192140</RingFingerDistal>
            <LittleFingerBase>0.000000</LittleFingerBase>
            <LittleFingerProximal>0.000000</LittleFingerProximal>
            <LittleFingerDistal>0.000000</LittleFingerDistal>
        </GraspOptimalJoint>
    </Grasp>
    <Grasp Index="59" Quality="0.0174232">
        <ApproachPose>
            <PositionX>221.921000</PositionX>
            <PositionY>279.769000</PositionY>
            <PositionZ>75.138600</PositionZ>
            <Roll>-1.574700</Roll>
            <Pitch>-0.008459</Pitch>
            <Yaw>2.476420</Yaw>
        </ApproachPose>
        <ApproachJoint>
            <ThumbAngle>0.000000</ThumbAngle>
            <ThumbBase>0.000000</ThumbBase>
            <ThumbProximal>-0.315725</ThumbProximal>
            <ThumbDistal>-0.261799</ThumbDistal>
            <FirstFingerBase>0.000000</FirstFingerBase>
            <FirstFingerProximal>-0.463606</FirstFingerProximal>
            <FirstFingerDistal>-0.261799</FirstFingerDistal>
            <MiddleFingerBase>0.000000</MiddleFingerBase>
            <MiddleFingerProximal>0.000000</MiddleFingerProximal>
            <MiddleFingerDistal>0.000000</MiddleFingerDistal>
            <RingFingerBase>0.000000</RingFingerBase>
            <RingFingerProximal>-0.462734</RingFingerProximal>
            <RingFingerDistal>-0.261799</RingFingerDistal>
            <LittleFingerBase>0.000000</LittleFingerBase>
            <LittleFingerProximal>0.000000</LittleFingerProximal>
            <LittleFingerDistal>0.000000</LittleFingerDistal>
        </ApproachJoint>
        <GraspPose>
            <PositionX>145.721000</PositionX>
            <PositionY>182.635000</PositionY>
            <PositionZ>74.656700</PositionZ>
            <Roll>-1.574700</Roll>
            <Pitch>-0.008459</Pitch>
            <Yaw>2.476420</Yaw>
        </GraspPose>
        <GraspJoint>
            <ThumbAngle>0.000000</ThumbAngle>
            <ThumbBase>0.000000</ThumbBase>
            <ThumbProximal>-0.053926</ThumbProximal>
            <ThumbDistal>0.000000</ThumbDistal>
            <FirstFingerBase>0.000000</FirstFingerBase>
            <FirstFingerProximal>-0.201806</FirstFingerProximal>
            <FirstFingerDistal>0.000000</FirstFingerDistal>
            <MiddleFingerBase>0.000000</MiddleFingerBase>
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            <MiddleFingerDistal>0.000000</MiddleFingerDistal>
            <RingFingerBase>0.000000</RingFingerBase>
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            <RingFingerDistal>0.000000</RingFingerDistal>
            <LittleFingerBase>0.000000</LittleFingerBase>
            <LittleFingerProximal>0.000000</LittleFingerProximal>
            <LittleFingerDistal>0.000000</LittleFingerDistal>
        </GraspJoint>
        <GraspOptimalJoint>
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            <ThumbBase>0.000000</ThumbBase>
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            <ThumbDistal>0.020000</ThumbDistal>
            <FirstFingerBase>0.000000</FirstFingerBase>
            <FirstFingerProximal>-0.181806</FirstFingerProximal>
            <FirstFingerDistal>0.020000</FirstFingerDistal>
            <MiddleFingerBase>0.000000</MiddleFingerBase>
            <MiddleFingerProximal>0.000000</MiddleFingerProximal>
            <MiddleFingerDistal>0.000000</MiddleFingerDistal>
            <RingFingerBase>0.000000</RingFingerBase>
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            <RingFingerDistal>0.020000</RingFingerDistal>
            <LittleFingerBase>0.000000</LittleFingerBase>
            <LittleFingerProximal>0.000000</LittleFingerProximal>
            <LittleFingerDistal>0.000000</LittleFingerDistal>
        </GraspOptimalJoint>
    </Grasp>
</GraspList>