mirage.gripper_interpolation.robosuite.gripper_interpolator.GripperInterpolator#

class mirage.gripper_interpolation.robosuite.gripper_interpolator.GripperInterpolator(source_info: str, target_info: str, interpolations_files: List[str] = [])#

Bases: object

Interpolates the gripper angles given the current robot gripper angles

__init__(source_info: str, target_info: str, interpolations_files: List[str] = [])#: Initializes the gripper interpolator

Methods

`__init__`(source_info, target_info[, ...])	Initializes the gripper interpolator
`interpolate_gripper`(gripper_angles)	Interpolates gripper angles

Attributes

GRIPPER_TYPE_TO_ROBOT_MAPPING

interpolate_gripper(gripper_angles: array) → array#

Interpolates gripper angles

Args:: gripper_angles (np.array): gripper angles of the source robot