clearpath_config.manipulators.types.grippers module

class clearpath_config.manipulators.types.grippers.BaseGripper(idx: int = None, name: str = None, ros_parameters: dict = {}, ros_parameters_template: dict = {}, parent: str = 'default_mount', xyz: List[float] = [0.0, 0.0, 0.0], rpy: List[float] = [0.0, 0.0, 0.0])

Bases: BaseManipulator

MANIPULATOR_MODEL = 'base'

MANIPULATOR_TYPE = 'gripper'

class clearpath_config.manipulators.types.grippers.FrankaGripper(idx: int = None, name: str = None, ros_parameters: dict = {}, ros_parameters_template: dict = {}, parent: str = 'default_mount', xyz: List[float] = [0.0, 0.0, 0.0], rpy: List[float] = [0.0, 0.0, 0.0])

Bases: BaseGripper

JOINT_COUNT = 1

MANIPULATOR_MODEL = 'franka_gripper'

property arm_id: str

class clearpath_config.manipulators.types.grippers.Gripper(model: str)

Bases: object

FRANKA_GRIPPER = 'franka_gripper'

KINOVA_2F_LITE = 'kinova_2f_lite'

MODEL = {'franka_gripper': <class 'clearpath_config.manipulators.types.grippers.FrankaGripper'>, 'kinova_2f_lite': <class 'clearpath_config.manipulators.types.grippers.Kinova2FLite'>, 'robotiq_2f_140': <class 'clearpath_config.manipulators.types.grippers.Robotiq2F140'>, 'robotiq_2f_85': <class 'clearpath_config.manipulators.types.grippers.Robotiq2F85'>}

ROBOTIQ_2F_140 = 'robotiq_2f_140'

ROBOTIQ_2F_85 = 'robotiq_2f_85'

classmethod assert_model(model: str) → None

class clearpath_config.manipulators.types.grippers.Kinova2FLite(idx: int = None, name: str = None, ros_parameters: dict = {}, ros_parameters_template: dict = {}, parent: str = 'default_mount', xyz: List[float] = [0.0, 0.0, 0.0], rpy: List[float] = [0.0, 0.0, 0.0])

Bases: BaseGripper

FAKE_SENSOR_COMMANDS = 'fake_sensor_commands'

ISAAC_JOINT_COMMANDS = 'isaac_joint_commands'

ISAAC_JOINT_STATES = 'isaac_joint_states'

JOINT_COUNT = 1

MANIPULATOR_MODEL = 'kinova_2f_lite'

SIM_GAZEBO = 'sim_gazebo'

SIM_IGNITION = 'sim_ignition'

SIM_ISAAC = 'sim_isaac'

URDF_PARAMETERS = {'fake_sensor_commands': '', 'isaac_joint_commands': '', 'isaac_joint_states': '', 'sim_gazebo': '', 'sim_ignition': '', 'sim_isaac': '', 'use_controllers': '', 'use_fake_hardware': ''}

USE_CONTROLLERS = 'use_controllers'

USE_FAKE_HARDWARE = 'use_fake_hardware'

class clearpath_config.manipulators.types.grippers.Robotiq2F140(idx: int = None, name: str = None, ros_parameters: dict = {}, ros_parameters_template: dict = {}, parent: str = 'default_mount', xyz: List[float] = [0.0, 0.0, 0.0], rpy: List[float] = [0.0, 0.0, 0.0])

Bases: BaseGripper

COM_PORT = 'com_port'

FAKE_SENSOR_COMMANDS = 'fake_sensor_commands'

ISAAC_JOINT_COMMANDS = 'isaac_joint_commands'

ISAAC_JOINT_STATES = 'isaac_joint_states'

JOINT_COUNT = 1

MANIPULATOR_MODEL = 'robotiq_2f_140'

SIM_GAZEBO = 'sim_gazebo'

SIM_IGNITION = 'sim_ignition'

SIM_ISAAC = 'sim_isaac'

URDF_PARAMETERS = {'com_port': '', 'fake_sensor_commands': '', 'isaac_joint_commands': '', 'isaac_joint_states': '', 'sim_gazebo': '', 'sim_ignition': '', 'sim_isaac': '', 'use_controllers': '', 'use_fake_hardware': ''}

USE_CONTROLLERS = 'use_controllers'

USE_FAKE_HARDWARE = 'use_fake_hardware'

class clearpath_config.manipulators.types.grippers.Robotiq2F85(idx: int = None, name: str = None, ros_parameters: dict = {}, ros_parameters_template: dict = {}, parent: str = 'default_mount', xyz: List[float] = [0.0, 0.0, 0.0], rpy: List[float] = [0.0, 0.0, 0.0])

Bases: BaseGripper

COM_PORT = 'com_port'

FAKE_SENSOR_COMMANDS = 'fake_sensor_commands'

ISAAC_JOINT_COMMANDS = 'isaac_joint_commands'

ISAAC_JOINT_STATES = 'isaac_joint_states'

JOINT_COUNT = 1

MANIPULATOR_MODEL = 'robotiq_2f_85'

SIM_GAZEBO = 'sim_gazebo'

SIM_IGNITION = 'sim_ignition'

SIM_ISAAC = 'sim_isaac'

URDF_PARAMETERS = {'com_port': '', 'fake_sensor_commands': '', 'isaac_joint_commands': '', 'isaac_joint_states': '', 'sim_gazebo': '', 'sim_ignition': '', 'sim_isaac': '', 'use_controllers': '', 'use_fake_hardware': ''}

USE_CONTROLLERS = 'use_controllers'

USE_FAKE_HARDWARE = 'use_fake_hardware'