airobot.ee_tool.robotiq2f140_pybullet

class airobot.ee_tool.robotiq2f140_pybullet.Robotiq2F140Pybullet(cfgs, pb_client)[source]

Bases: airobot.ee_tool.simple_gripper_mimic_pybullet.SimpleGripperMimicPybullet

Class for interfacing with a Robotiq 2F140 gripper when it is attached to UR5e arm in pybullet.

Parameters:
  • cfgs (YACS CfgNode) – configurations for the gripper.
  • pb_client (BulletClient) – pybullet client.
Variables:
  • 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.
feed_robot_info(robot_id, jnt_to_id)[source]

Setup the gripper, pass the robot info from the arm to the gripper.

Parameters:
  • robot_id (int) – robot id in Pybullet.
  • jnt_to_id (dict) – mapping from the joint name to joint id.