SurfaceGripperComponent#
Fully qualified name: isaacsim::robot::surface_gripper::SurfaceGripperComponent
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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
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SurfaceGripperComponent() = default#
Default constructor.
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virtual ~SurfaceGripperComponent() = default#
Virtual destructor.
- virtual void initialize( )#
Initializes the surface gripper component.
- Parameters:
prim – [in] USD prim representing the surface gripper
stage – [in] USD stage containing the prim
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virtual void onComponentChange()#
Called when component properties change.
Updates the gripper’s configuration when component properties are modified
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virtual void onStart()#
Called when the gripper starts.
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virtual void onPhysicsStep(double dt)#
Called each physics step to update gripper state.
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virtual void preTick()#
Called before each tick to prepare sensor state.
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virtual void tick()#
Called each tick to update the gripper state.
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virtual void onStop()#
Called when the gripper stops.
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virtual bool setGripperStatus(const std::string &status)#
Sets the gripper status to open or closed.
- Parameters:
status – [in] New status for the gripper (“Open” or “Closed”)
- Returns:
True if the status was changed successfully
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inline std::string getGripperStatus() const#
Gets the current status of the gripper.
- Returns:
Current status (“Open” or “Closed”)
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inline std::string getPrimPath() const#
Gets the prim path of this gripper.
- Returns:
The USD prim path as a string
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inline std::vector<std::string> getGrippedObjects() const#
Gets the list of currently gripped objects.
- Returns:
Vector of prim paths for gripped objects
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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
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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
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inline pxr::UsdPrim &getPrim()#
Retrieves the component’s USD prim.
- Returns:
Reference to the component’s USD prim
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inline bool getEnabled()#
Checks if the component is enabled.
- Returns:
true if the component is enabled, false otherwise
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inline uint64_t getSequenceNumber()#
Gets the component’s sequence number.
- Returns:
The component’s sequence number
Public Members
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bool mDoStart#
Flag indicating whether onStart should be called.
Protected Attributes
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usdrt::UsdStageRefPtr m_usdrtStage#
Runtime USD stage reference.
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double m_timeSeconds#
Current simulation time in seconds.
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int64_t m_timeNanoSeconds#
Current simulation time in nanoseconds.
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double m_timeDelta#
Time delta for current tick in seconds.
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uint64_t m_sequenceNumber#
Component sequence number for ordering/identification.
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bool m_enabled#
Component enabled state flag.
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SurfaceGripperComponent() = default#