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.