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.