SurfaceGripperComponent

Fully qualified name: isaacsim::robot::surface_gripper::SurfaceGripperComponent

class SurfaceGripperComponent : public isaacsim::core::includes::ComponentBase<pxr::UsdPrim>

Component class for managing Surface Gripper functionality.

This class represents a surface gripper component that can be attached to a robot to enable gripping functionality. It manages the D6 joints that act as attachment points for the gripper.

Public Functions

SurfaceGripperComponent() = default

Default constructor.

virtual ~SurfaceGripperComponent() = default

Virtual destructor.

virtual void initialize(

const pxr::UsdPrim &prim,

const pxr::UsdStageWeakPtr stage,

bool writeToUsd,

)

Initializes the surface gripper component.

Parameters:

• prim – [in] USD prim representing the surface gripper

• stage – [in] USD stage containing the prim

virtual void onComponentChange()

Called when component properties change.

Updates the gripper’s configuration when component properties are modified

virtual void onStart()

Called when the gripper starts.

virtual void onPhysicsStep(double dt)

Called each physics step to update gripper state.

virtual void preTick()

Called before each tick to prepare sensor state.

virtual void tick()

Called each tick to update the gripper state.

virtual void onStop()

Called when the gripper stops.

virtual bool setGripperStatus(GripperStatus status)

Sets the gripper status.

Parameters:

status – [in] New status for the gripper.

Returns:

True if the status was changed successfully.

void consumePhysxActions(std::vector<PhysxAction> &outActions)

Drains this component’s queued PhysX actions into the provided vector.

Parameters:

outActions – [out] Destination vector where actions will be appended.

void consumeUsdActions(std::vector<UsdAction> &outActions)

Drains this component’s queued USD actions into the provided vector.

Parameters:

outActions – [out] Destination vector where actions will be appended.

inline GripperStatus getGripperStatus() const

Gets the current status of the gripper.

Returns:

Current status.

inline std::string getPrimPath() const

Gets the prim path of this gripper.

Returns:

The USD prim path as a string

inline std::vector<std::string> getGrippedObjects() const

Gets the list of currently gripped objects.

Returns:

Vector of prim paths for gripped objects

inline void setWriteToUsd(bool writeToUsd)

Sets whether to write to USD or keep state in memory only.

Parameters:

writeToUsd – [in] Whether to write to USD or keep state in memory only

inline bool hasPhysxActions() const

inline bool hasUsdActions() const

inline virtual void initialize(

const pxr::UsdPrim &prim,

pxr::UsdStageWeakPtr stage,

)

Initializes the component with USD prim and stage references.

Sets up the component’s USD context and prepares it for execution

Parameters:

• prim – [in] The USD prim to attach this component to

• stage – [in] The USD stage containing the prim

Post:

Component is initialized with valid USD prim and stage references

Post:

mDoStart is set to true, indicating the component is ready to start

inline virtual void onPhysicsStep(float dt)

Called during each physics simulation step.

Override this to implement physics-based behavior

Parameters:

dt – [in] Time step size in seconds

inline virtual void onRenderEvent()

Called for each rendered frame.

Override this to implement render-specific behavior or visual updates

inline virtual void updateTimestamp(

double timeSeconds,

double dt,

int64_t timeNano,

)

Updates the component’s internal timing information.

Maintains synchronized timing state across the component

Parameters:

• timeSeconds – [in] Current simulation time in seconds

• dt – [in] Time step size in seconds

• timeNano – [in] Current simulation time in nanoseconds

inline pxr::UsdPrim &getPrim()

Retrieves the component’s USD prim.

Returns:

Reference to the component’s USD prim

inline bool getEnabled()

Checks if the component is enabled.

Returns:

true if the component is enabled, false otherwise

inline uint64_t getSequenceNumber()

Gets the component’s sequence number.

Returns:

The component’s sequence number

Public Members

bool mDoStart

Flag indicating whether onStart should be called.

Protected Attributes

pxr::UsdPrim m_prim

USD prim reference storing component settings.

pxr::UsdStageWeakPtr m_stage

Weak pointer to the USD stage containing the prim.

usdrt::UsdStageRefPtr m_usdrtStage

Runtime USD stage reference.

double m_timeSeconds

Current simulation time in seconds.

int64_t m_timeNanoSeconds

Current simulation time in nanoseconds.

double m_timeDelta

Time delta for current tick in seconds.

uint64_t m_sequenceNumber

Component sequence number for ordering/identification.

bool m_enabled

Component enabled state flag.