airobot.ee_tool.yumi_parallel_jaw_pybullet

class airobot.ee_tool.yumi_parallel_jaw_pybullet.YumiParallelJawPybullet(cfgs, pb_client)[source]

Bases: airobot.ee_tool.simple_gripper_mimic_pybullet.SimpleGripperMimicPybullet

Class for interfacing with the standard Yumi parallel jaw gripper.

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.