from airobot.ee_tool.simple_gripper_mimic_pybullet import SimpleGripperMimicPybullet
[docs]class YumiParallelJawPybullet(SimpleGripperMimicPybullet):
"""
Class for interfacing with the standard Yumi
parallel jaw gripper.
Args:
cfgs (YACS CfgNode): configurations for the gripper
pb_client (BulletClient): pybullet client.
Attributes:
cfgs (YACS CfgNode): configurations for the gripper.
gripper_close_angle (float): position value corresponding to the
fully closed position of the gripper.
gripper_open_angle (float): position value corresponding to the
fully open position of the gripper.
jnt_names (list): names of the gripper joints.
gripper_jnt_ids (list): pybullet joint ids of the gripper joints.
robot_id (int): robot id in Pybullet.
jnt_to_id (dict): mapping from the joint name to joint id.
"""
def __init__(self, cfgs, pb_client):
super(YumiParallelJawPybullet, self).__init__(cfgs=cfgs,
pb_client=pb_client)