End-effector assets

End-effector assets#

These dataset classes download and extract end-effector URDFs and their mesh bundles. Pass a custom data_root to isolate the cache, or resolve a model through embodichain.data.get_data_path using its dataset name and model path.

PikaGripper uses PikaGripper/PikaGripper.urdf. Its root attachment frame is GRIPPER_ROOT_LINK. FINGER1_JOINT drives the parallel jaws over 0–0.05 m; FINGER2_JOINT follows it through a URDF mimic relationship. The archive preserves the DexEChain visual DAE and collision STL meshes.

`DH_PGC_140_50`	Dataset class for the DH Robotics PGC-140-50 end-effector gripper.
`DH_PGI_140_80`	Dataset class for the DH Robotics PGI-140-80 end-effector gripper.
`DH_PGC_140_50_M`	Dataset class for the DH Robotics PGC-140-50 end-effector gripper.
`DH_AG95`	Dataset class for the DH Robotics AG95 end-effector gripper.
`ZH_CTM2F110`	Dataset class for the Zhixing Robot Technology CTM2F110 end-effector gripper.
`BrainCoHandRevo1`	Dataset class for the BrainCo Hand Revo 1 robotic hand.
`InspireHand`	Dataset class for the Inspire Hand robotic hand.
`Robotiq`	Dataset class for the Robotiq robotic gripper.
`Robotiq2F85`	Dataset class for the Robotiq 2F85 robotic gripper.
`WheelTecFA2F`	Dataset class for the WheelTec FA 2 fingers robotic gripper.
`PikaGripper`	Standalone Pika parallel gripper with visual and collision meshes.

class embodichain.data.assets.eef_assets.DH_PGC_140_50[source]#

Dataset class for the DH Robotics PGC-140-50 end-effector gripper.

Reference:

https://www.dh-robotics.com/product/pgc

Directory structure:

DH_PGC_140_50/: DH_PGC_140_50.urdf

Example usage:

>>> from embodichain.data.eef_dataset import DH_PGC_140_50
>>> dataset = DH_PGC_140_50()
or
>>> from embodichain.data import get_data_path
>>> print(get_data_path("DH_PGC_140_50/DH_PGC_140_50.urdf"))

Methods:

__init__([data_root])

__init__(data_root=None)[source]#

class embodichain.data.assets.eef_assets.DH_PGI_140_80[source]#

Dataset class for the DH Robotics PGI-140-80 end-effector gripper.

Reference:

https://www.dh-robotics.com/product/pgia###

Directory structure:

DH_PGI_140_80/: DH_PGI_140_80.urdf

Example usage:

>>> from embodichain.data.eef_dataset import DH_PGI_140_80
>>> dataset = DH_PGI_140_80()
or
>>> from embodichain.data import get_data_path
>>> print(get_data_path("DH_PGI_140_80/DH_PGI_140_80.urdf"))

Methods:

__init__([data_root])

__init__(data_root=None)[source]#

class embodichain.data.assets.eef_assets.DH_PGC_140_50_M[source]#

Dataset class for the DH Robotics PGC-140-50 end-effector gripper.

DexForce modified connector and finger.

Reference:

https://www.dh-robotics.com/product/pgc

Directory structure:

DH_PGC_140_50_M/: DH_PGC_140_50_M.urdf

Example usage:

>>> from embodichain.data.eef_dataset import DH_PGC_140_50_M
>>> dataset = DH_PGC_140_50_M()
or
>>> from embodichain.data import get_data_path
>>> print(get_data_path("DH_PGC_140_50_M/DH_PGC_140_50_M.urdf"))

Methods:

__init__([data_root])

__init__(data_root=None)[source]#

class embodichain.data.assets.eef_assets.DH_AG95[source]#

Dataset class for the DH Robotics AG95 end-effector gripper.

DexForce modified connector and finger.

Reference:

https://www.dh-robotics.com/product/ag

Directory structure:

DH_AG95/: dh_ag95.urdf

Example usage:

>>> from embodichain.data.eef_dataset import DH95
>>> dataset = DH_AG95()
or
>>> from embodichain.data import get_data_path
>>> print(get_data_path("DH_AG95/dh_ag95.urdf"))

Methods:

__init__([data_root])

__init__(data_root=None)[source]#

class embodichain.data.assets.eef_assets.ZH_CTM2F110[source]#

Dataset class for the Zhixing Robot Technology CTM2F110 end-effector gripper.

Reference:

https://www.changingtek.com/service

Directory structure:

ZH_CTM2F110/: ZH_CTM2F110.urdf

Example usage:

>>> from embodichain.data.eef_dataset import ZH_CTM2F110
>>> dataset = ZH_CTM2F110()
or
>>> from embodichain.data import get_data_path
>>> print(get_data_path("ZH_CTM2F110/ZH_CTM2F110.urdf"))

Methods:

__init__([data_root])

__init__(data_root=None)[source]#

class embodichain.data.assets.eef_assets.BrainCoHandRevo1[source]#

Dataset class for the BrainCo Hand Revo 1 robotic hand.

Reference:

https://www.brainco-hz.com/docs/revolimb-hand/revo1/parameters.html

Directory structure:

BrainCoHandRevo1/: BrainCoRightHand/BrainCoRightHand.urdf BrainCoLeftHand/BrainCoLeftHand.urdf

Example usage:

>>> from embodichain.data.eef_dataset import BrainCoHandRevo1
>>> dataset = BrainCoHandRevo1()
or
>>> from embodichain.data import get_data_path
>>> print(get_data_path("BrainCoHandRevo1/BrainCoRightHand/BrainCoRightHand.urdf"))
>>> print(get_data_path("BrainCoHandRevo1/BrainCoLeftHand/BrainCoLeftHand.urdf"))

Methods:

__init__([data_root])

__init__(data_root=None)[source]#

class embodichain.data.assets.eef_assets.InspireHand[source]#

Dataset class for the Inspire Hand robotic hand.

Reference:

https://en.inspire-robots.com/product/rh56bfx

Directory structure:

InspireHand/: InspireLeftHand/InspireLeftHand.urdf InspireRightHand/InspireRightHand.urdf inspire_joint_data.csv inspire_joint_data.npy

Example usage:

>>> from embodichain.data.eef_dataset import InspireHand
>>> dataset = InspireHand()
or
>>> from embodichain.data import get_data_path
>>> print(get_data_path("InspireHand/InspireLeftHand/InspireLeftHand.urdf"))
>>> print(get_data_path("InspireHand/InspireRightHand/InspireRightHand.urdf"))
>>> print(get_data_path("InspireHand/inspire_joint_data.csv"))
>>> print(get_data_path("InspireHand/inspire_joint_data.npy"))

Methods:

__init__([data_root])

__init__(data_root=None)[source]#

class embodichain.data.assets.eef_assets.Robotiq[source]#

Dataset class for the Robotiq robotic gripper.

Reference:

https://robotiq.com/products/adaptive-grippers#Two-Finger-Gripper

Directory structure:

Robotiq/

robotiq_arg2f_85/: robotiq_arg2f_85.urdf
robotiq_arg2f_140/: robotiq_arg2f_140.urdf

Example usage:

>>> from embodichain.data.eef_dataset import Robotiq
>>> dataset = Robotiq()
or
>>> from embodichain.data import get_data_path
>>> print(get_data_path("Robotiq/robotiq_arg2f_85/robotiq_arg2f_85.urdf"))
>>> print(get_data_path("Robotiq/robotiq_arg2f_140/robotiq_arg2f_140.urdf"))

Methods:

__init__([data_root])

__init__(data_root=None)[source]#

class embodichain.data.assets.eef_assets.Robotiq2F85[source]#

Dataset class for the Robotiq 2F85 robotic gripper.

Reference:

https://robotiq.com/products/adaptive-grippers#Two-Finger-Gripper

Directory structure:

Robotiq2F85/: Robotiq2F85.urdf

Example usage:

>>> from embodichain.data.eef_dataset import Robotiq2F85
>>> dataset = Robotiq2F85()
or
>>> from embodichain.data import get_data_path
>>> print(get_data_path("Robotiq2F85/Robotiq2F85.urdf"))

Methods:

__init__([data_root])

__init__(data_root=None)[source]#

class embodichain.data.assets.eef_assets.WheelTecFA2F[source]#

Dataset class for the WheelTec FA 2 fingers robotic gripper.

Reference:

https://www.wheeltec.net/

Directory structure:

WheelTecFA2F/: WheelTecFA2F.urdf

Example usage:

>>> from embodichain.data.eef_dataset import WheelTecFA2F
>>> dataset = WheelTecFA2F()
or
>>> from embodichain.data import get_data_path
>>> print(get_data_path("WheelTecFA2F/WheelTecFA2F.urdf"))

Methods:

__init__([data_root])

__init__(data_root=None)[source]#

class embodichain.data.assets.eef_assets.PikaGripper[source]#

Standalone Pika parallel gripper with visual and collision meshes.

Resolve the URDF with get_data_path("PikaGripper/PikaGripper.urdf"). FINGER1_JOINT is actuated over 0–0.05 m (closed to open); FINGER2_JOINT mimics it. Mount the asset through GRIPPER_ROOT_LINK.

Parameters:: data_root (str | None) – Optional cache root; defaults to EMBODICHAIN_DATA_ROOT.

Methods:

__init__([data_root])

__init__(data_root=None)[source]#

End-effector assets

Contents

End-effector assets#