pybullet_planning.primitives.trajectory.EndEffector

class pybullet_planning.primitives.trajectory.EndEffector(robot, ee_link, tool_link, **kwargs)

Bases: object

a convenient class for creating and manipulating an end effector

Note: the end effector needs to be modeled in the robot’s URDF.

__init__(robot, ee_link, tool_link, **kwargs)

[summary]

Parameters

• robot ([type]) – [description]

• ee_link (int) – pb link index of the link where the end effector gets attached to

• tool_link (int) – pb link index of the TCP (tip) link

Methods

__init__(robot, ee_link, tool_link, **kwargs)	[summary]
get_tool_pose([get_cloned_pose])	[summary]
set_pose(tool_pose)

Attributes

tool_from_root

__init__(robot, ee_link, tool_link, **kwargs)

[summary]

Parameters

• robot ([type]) – [description]

• ee_link (int) – pb link index of the link where the end effector gets attached to

• tool_link (int) – pb link index of the TCP (tip) link