Surface Gripper Bindings

The compiled Surface Gripper binding module (_surface_gripper) moved from the isaacsim.robot.surface_gripper package root into the bindings subpackage. This matches the Isaac Sim packaging convention, where compiled pybind11 modules live under <package>/bindings/.

Scripts that import the binding through its old submodule path fail at import time:

import isaacsim.robot.surface_gripper._surface_gripper
# ModuleNotFoundError: No module named 'isaacsim.robot.surface_gripper._surface_gripper'

The interface is otherwise unchanged. acquire_surface_gripper_interface(), release_surface_gripper_interface(), GripperStatus, and SurfaceGripperInterface behave exactly as before — only the import path changed. Update your imports as described below.

Import mapping

The binding is available in two equivalent ways. Use the package-root re-export when you want the module as a namespace, and the direct bindings submodule import when you only need specific symbols.

Old import (Isaac Sim 5.x and earlier)	New import (Isaac Sim 6.0 and later)
import isaacsim.robot.surface_gripper._surface_gripper as sg	from isaacsim.robot.surface_gripper import _surface_gripper as sg
from isaacsim.robot.surface_gripper._surface_gripper import acquire_surface_gripper_interface, GripperStatus	from isaacsim.robot.surface_gripper.bindings._surface_gripper import acquire_surface_gripper_interface, GripperStatus

Code examples

Acquire the interface and query gripper status

# Old (Isaac Sim 5.x and earlier)
import isaacsim.robot.surface_gripper._surface_gripper as surface_gripper

gripper = surface_gripper.acquire_surface_gripper_interface()
status = gripper.get_gripper_status("/World/SurfaceGripper")
is_closed = status == surface_gripper.GripperStatus.Closed

# New (Isaac Sim 6.0 and later)
from isaacsim.robot.surface_gripper import _surface_gripper as surface_gripper

gripper = surface_gripper.acquire_surface_gripper_interface()
status = gripper.get_gripper_status("/World/SurfaceGripper")
is_closed = status == surface_gripper.GripperStatus.Closed

Import specific symbols

# Old (Isaac Sim 5.x and earlier)
from isaacsim.robot.surface_gripper._surface_gripper import (
    acquire_surface_gripper_interface,
    GripperStatus,
)

# New (Isaac Sim 6.0 and later)
from isaacsim.robot.surface_gripper.bindings._surface_gripper import (
    acquire_surface_gripper_interface,
    GripperStatus,
)