from yacs.config import CfgNode as CN
_C = CN()
# joint angle when the gripper is fully open
_C.OPEN_ANGLE = 0.0
# joint angle when the gripper is fully closed
_C.CLOSE_ANGLE = 0.7
# default host and port for socket used to
# communicate with the gripper through the
# UR controller
_C.SOCKET_HOST = '127.0.0.1'
_C.SOCKET_PORT = 63352
_C.SOCKET_NAME = 'gripper_socket'
_C.DEFAULT_SPEED = 255
_C.DEFAULT_FORCE = 50
_C.COMMAND_TOPIC = '/ur_driver/URScript'
_C.GAZEBO_COMMAND_TOPIC = '/gripper/gripper_cmd/goal'
_C.JOINT_STATE_TOPIC = '/joint_states'
# Prefix of IP address of UR5 on local network
_C.IP_PREFIX = '192.168'
# Replace with the IP found on the UR5 pendant
_C.FULL_IP = '127.0.0.1'
# time in seconds to wait for new gripper state before exiting
_C.UPDATE_TIMEOUT = 5.0
# default maximum values for gripper state varibles
# minimum values are all 0
_C.POSITION_RANGE = 255
# scaling factor to convert from URScript range to Robotiq range
_C.POSITION_SCALING = (255 / 0.7)
# for the gripper in pybullet
_C.JOINT_NAMES = [
'finger_joint', 'left_inner_knuckle_joint',
'left_inner_finger_joint', 'right_outer_knuckle_joint',
'right_inner_knuckle_joint', 'right_inner_finger_joint',
]
_C.MIMIC_COEFF = [1, -1, 1, -1, -1, 1]
_C.MAX_TORQUE = 25.0
def get_robotiq2f140_cfg():
return _C.clone()