If you run this as the main file with no arguments, it will display all the
known grippers.
If you run this with one or more arguments, it will display the named grippers.
"""
from gripper import GripperInfo
import os
data_dir = os.path.abspath(os.path.join(os.path.dirname(__file__),'../data'))
robotiq_85 = GripperInfo("robotiq_85",0,[1,2,3,4,5,6,7,8],[0],
klampt_model=os.path.join(data_dir,"robots/robotiq_85.rob"))
robotiq_85.center = (0,0,0.1)
robotiq_85.primary_axis = (0,0,1)
robotiq_85.secondary_axis = (1,0,0)
robotiq_85.finger_length = 0.06
robotiq_85.finger_depth = 0.01
robotiq_85.finger_width = 0.02
robotiq_85.maximum_span = 0.085 - 0.01
robotiq_85.minimum_span = 0
robotiq_85.open_config = [0]*8
robotiq_85.closed_config = [0.723,0,0.723,-0.723,-0.723,0.723,-0.723,0 ]
robotiq_140 = GripperInfo("robotiq_140",0,[1,2,4,6,7,9],[0],
klampt_model=os.path.join(data_dir,"robots/robotiq_140.rob"))
robotiq_140.center = (0,0,0.1)
robotiq_140.primary_axis = (0,0,1)
robotiq_140.secondary_axis = (0,1,0)
robotiq_140.finger_length = 0.12
robotiq_140.finger_depth = 0.01
If you run this as the main file with no arguments, it will display all the
known grippers.
If you run this with one or more arguments, it will display the named grippers.
"""
from gripper import GripperInfo
import os
data_dir = os.path.abspath(os.path.join(os.path.dirname(__file__),''))
robotiq_85 = GripperInfo("robotiq_85",0,[1,2,3,4,5,6,7,8],[0],
klampt_model=os.path.join(data_dir,"robot/robotiq_85.rob"))
robotiq_85.center = (0,0,0.1)
robotiq_85.primary_axis = (0,0,1)
robotiq_85.secondary_axis = (1,0,0)
robotiq_85.finger_length = 0.06
robotiq_85.finger_depth = 0.01
robotiq_85.finger_width = 0.02
robotiq_85.maximum_span = 0.085 - 0.01
robotiq_85.minimum_span = 0
robotiq_85.open_config = [0]*8
robotiq_85.closed_config = [0.723,0,0.723,-0.723,-0.723,0.723,-0.723,0 ]
robotiq_85_kinova_gen3 = GripperInfo.mounted(robotiq_85,os.path.join(data_dir,"robot/kinova_with_robotiq_85.urdf"),"gripper:Link_0","robotiq_85-kinova_gen3")
if __name__ == '__main__':
from klampt import vis
import sys
if len(sys.argv) == 1:
grippers = [i for i in GripperInfo.all_grippers]
print("ALL GRIPPERS",grippers)