parameters: (self,Tgrasp,angle=.548)
docstring: visualizes a grasp transform
          
          :param Tgrasp: a 4x4 row-major matrix in numpy.array format in global frame
          :param angle: between 0 and .548
docstring_summary: visualizes a grasp transform
          
          :param Tgrasp: a 4x4 row-major matrix in numpy.array format in global frame
          :param angle: between 0 and .548
docstring_tokens: visualizes a grasp transform : param Tgrasp : a 4x4 row - major matrix in numpy . array format in global frame : param angle : between 0 and . 548
function: def showGrasp(self,Tgrasp,angle=.548):
          """visualizes a grasp transform
          
          :param Tgrasp: a 4x4 row-major matrix in numpy.array format in global frame
          :param angle: between 0 and .548
          """
          probot = self.robot
          pmanip = probot.GetActiveManipulator()
          v = probot.GetActiveDOFValues()
          v[self.robot.GetJoint('l_gripper_l_finger_joint').GetDOFIndex()] = angle
          probot.SetActiveDOFValues(v)
          with databases.grasping.GraspingModel.GripperVisibility(pmanip): # show only the gripper
              O_T_R = probot.GetTransform() # robot transform R in global frame O 
              O_T_G = pmanip.GetTransform() # grasping frame G in global frame O
              G_T_O = linalg.inv(O_T_G) # global frame O in grasping frame G
              G_T_R = dot(G_T_O, O_T_R) # robot frame R in grasping frame G
              O_T_G_goal = Tgrasp # final grasping frame G_goal in global frame O 
              O_T_R_goal = dot(O_T_G_goal,G_T_R) # final robot transform R_goal in global frame O
                              
              probot.SetTransform(O_T_R_goal)
              pause()
              probot.SetTransform(O_T_R)
function_tokens: def showGrasp ( self , Tgrasp , angle = .548 ) : probot = self . robot pmanip = probot . GetActiveManipulator ( ) v = probot . GetActiveDOFValues ( ) v [ self . robot . GetJoint ( 'l_gripper_l_finger_joint' ) . GetDOFIndex ( ) ] = angle probot . SetActiveDOFValues ( v ) with databases . grasping . GraspingModel . GripperVisibility ( pmanip ) : # show only the gripper O_T_R = probot . GetTransform ( ) # robot transform R in global frame O  O_T_G = pmanip . GetTransform ( ) # grasping frame G in global frame O G_T_O = linalg . inv ( O_T_G ) # global frame O in grasping frame G G_T_R = dot ( G_T_O , O_T_R ) # robot frame R in grasping frame G O_T_G_goal = Tgrasp # final grasping frame G_goal in global frame O  O_T_R_goal = dot ( O_T_G_goal , G_T_R ) # final robot transform R_goal in global frame O probot . SetTransform ( O_T_R_goal ) pause ( ) probot . SetTransform ( O_T_R )