Public API for module isaacsim.robot.surface_gripper:

Classes

• class GripperView(XformPrim)

  • def init(self, paths: str = None, max_grip_distance: np.ndarray | wp.array | None = None, coaxial_force_limit: np.ndarray | wp.array | None = None, shear_force_limit: np.ndarray | wp.array | None = None, retry_interval: np.ndarray | wp.array | None = None, positions: np.ndarray | wp.array | None = None, translations: np.ndarray | wp.array | None = None, orientations: np.ndarray | wp.array | None = None, scales: np.ndarray | wp.array | None = None, reset_xform_op_properties: bool = True)

  • def get_surface_gripper_status(self, indices: list | np.ndarray | wp.array | None = None) -> list[str]

  • def get_gripped_objects(self, indices: list | np.ndarray | wp.array | None = None) -> list[str]

  • def get_surface_gripper_properties(self, indices: list | np.ndarray | wp.array | None = None) -> tuple[list[float], list[float], list[float], list[float]]

  • def apply_gripper_action(self, values: list[float], indices: list | np.ndarray | wp.array | None = None)

  • def set_surface_gripper_properties(self, max_grip_distance: list[float] | None = None, coaxial_force_limit: list[float] | None = None, shear_force_limit: list[float] | None = None, retry_interval: list[float] | None = None, indices: list | np.ndarray | wp.array | None = None)

Functions

• def create_surface_gripper(stage: Usd.Stage, prim_path: str) -> Usd.Prim