SurfaceGripperInterface#
Fully qualified name: isaacsim::robot::surface_gripper::SurfaceGripperInterface
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struct SurfaceGripperInterface#
Interface for controlling surface gripper functionality.
Provides function pointers for controlling surface grippers in the simulation. Surface grippers can attach to and manipulate objects through surface contact rather than traditional mechanical gripping.
All functions operate on grippers identified by their USD prim path.
Public Members
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int (*getGripperStatus)(const char *primPath)#
Function pointer to get the current status of a surface gripper.
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bool (*openGripper)(const char *primPath)#
Function pointer to open/release a surface gripper.
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bool (*closeGripper)(const char *primPath)#
Function pointer to close/activate a surface gripper.
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bool (*setGripperAction)(const char *primPath, const float action)#
Function pointer to set a specific gripper action value.
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std::vector<std::string> (*getGrippedObjects)(const char *primPath)#
Function pointer to get the list of objects currently gripped.
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bool (*setWriteToUsd)(const bool writeToUsd)#
Function pointer to set whether to write to USD.
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std::vector<int> (*getGripperStatusBatch)(const char *const *primPaths, size_t count)#
Function pointer to get statuses for multiple surface grippers.
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std::vector<bool> (*openGripperBatch)(const char *const *primPaths, size_t count)#
Function pointer to open multiple surface grippers.
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std::vector<bool> (*closeGripperBatch)(const char *const *primPaths, size_t count)#
Function pointer to close multiple surface grippers.
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int (*getGripperStatus)(const char *primPath)#