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
robotiq_140.finger_width = 0.02
robotiq_140.maximum_span = 0.140 - 0.01
robotiq_140.minimum_span = 0
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)
else:
grippers = sys.argv[1:]