How to use

us.ihmc.humanoidRobotics.communication.controllerAPI.command.HandTrajectoryCommand

constructor

public WholeBodyTrajectoryCommand()
{
 for (RobotSide robotSide : RobotSide.values)
 {
   HandTrajectoryCommand handTrajectoryControllerCommand = new HandTrajectoryCommand();
   ArmTrajectoryCommand armTrajectoryControllerCommand = new ArmTrajectoryCommand();
   FootTrajectoryCommand footTrajectoryControllerCommand = new FootTrajectoryCommand();
   handTrajectoryControllerCommands.put(robotSide, handTrajectoryControllerCommand);
   armTrajectoryControllerCommands.put(robotSide, armTrajectoryControllerCommand);
   footTrajectoryControllerCommands.put(robotSide, footTrajectoryControllerCommand);
   allControllerCommands.add(handTrajectoryControllerCommand);
   allControllerCommands.add(armTrajectoryControllerCommand);
   allControllerCommands.add(footTrajectoryControllerCommand);
 }
 allControllerCommands.add(chestTrajectoryControllerCommand);
 allControllerCommands.add(pelvisTrajectoryControllerCommand);
}

HandTrajectoryCommand command = new HandTrajectoryCommand();
command.set(message);
controllerCommands.add(command);

HandTrajectoryCommand command = new HandTrajectoryCommand();
command.set(message);
controllerCommands.add(command);

message.getSe3Trajectory().getFrameInformation().setTrajectoryReferenceFrameId(MessageTools.toFrameId(chestFrame));
message.getSe3Trajectory().getFrameInformation().setDataReferenceFrameId(MessageTools.toFrameId(worldFrame));
HandTrajectoryCommand command = new HandTrajectoryCommand();
command.getSE3Trajectory().set(worldFrame, chestFrame, message.getSe3Trajectory());
controllerCommands.add(command);

HandTrajectoryCommand handTrajectoryControllerCommand = new HandTrajectoryCommand(referenceFrame, userHandPoseSide.getEnumValue(), userHandPoseBaseForControl.getEnumValue());