def METHOD_NAME(self, name):
    grasp = Grasp()
    grasp.id = name
    positions = self.hand.read_all_current_positions()
    positions = {key: radians(value) for key, value in positions.items()}
    grasp.set_grasp_point(positions=positions)
    self.stash.put_grasp(grasp)
    node.grasp = grasp