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New 2F140 gripper implementation + franka2f140 robot + some changes on creating pybullet clients #33

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Overview of changes:

  • Full refactor of Robotiq2F140 gripper class in eetool. Based on p.createConstraint instead of a background mimic thread. This should help the system be useable from MacOS (which has extra complications multithreading with pybullet)
  • added 'server' argument to the BulletClient to create a p.GUI_SERVER or p.SHARED_MEMORY_SERVER instead of the regular modes. These are also needed for proper multithreading
  • New URDF + mesh assets + cfg file for panda robot (panda.urdf, panda_2f140.urdf, franka_2f140_cfg.py)
  • modified check for pulling URDFs from pybullet data, use a new 'pybullet_urdf' flag instead.
  • some small updates to the franka_cfg and assets/franka_arm cfg file

@anthonysimeonov
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@taochenshh @richardrl would appreciate a review on this. @richardrl I think hopefully this should fix the issues you faced a very long time ago using this gripper on your mac.

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lgtm-com bot commented Apr 13, 2022

This pull request introduces 3 alerts when merging 83e7cb0 into ba647ee - view on LGTM.com

new alerts:

  • 3 for Unused local variable

@taochenshh
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@anthonysimeonov everything seems to work except the ignore_physics might not be working properly.

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lgtm-com bot commented Apr 13, 2022

This pull request introduces 3 alerts when merging 6a0650f into ba647ee - view on LGTM.com

new alerts:

  • 3 for Unused local variable

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