SurfaceGripperManager#

Fully qualified name: isaacsim::robot::surface_gripper::SurfaceGripperManager

class SurfaceGripperManager : public isaacsim::core::includes::PrimManagerBase<SurfaceGripperComponent>#

Manager class for handling surface grippers in a scene.

This class manages all surface gripper components in a USD scene, providing functionality to control and monitor gripper states. It processes physics steps to update gripper behaviors.

Public Functions

inline SurfaceGripperManager(omni::physx::IPhysx *physXInterface)#

Constructs a new SurfaceGripperManager.

Parameters:: physXInterface – [in] Pointer to the PhysX interface used for physics simulation

inline ~SurfaceGripperManager()#: Destructor for SurfaceGripperManager.

virtual std::vector<std::string> getComponentIsAVector() const#

Returns a vector of supported component types.

Returns:: Vector of strings representing supported component types

virtual void onStop()#: Handles the stop event for all managed grippers.

virtual void onComponentAdd(const pxr::UsdPrim &prim)#

Handles the addition of a new surface gripper component.

Parameters:: prim – [in] The USD primitive representing the gripper to be added

virtual void onComponentChange(const pxr::UsdPrim &prim)#

Handles changes to a gripper component’s properties.

Parameters:: prim – [in] The USD primitive whose properties have changed

void onPhysicsStep(const double &dt)#

Called for each physics step to update all grippers.

Parameters:: dt – [in] The time step in seconds

virtual void onStart()#: Called when the simulation starts.

virtual void tick(double dt)#

Tick function called each frame.

Parameters:: dt – [in] The time step in seconds

bool setGripperStatus( const std::string &primPath, const std::string &status, )#

Sets the status of a specific gripper.

Parameters:

primPath – [in] The USD path of the gripper to control
status – [in] The new status to set (“Open” or “Closed”)

Returns:

True if the status was set successfully, false otherwise

std::string getGripperStatus(const std::string &primPath)#

Gets the status of a specific gripper.

Parameters:: primPath – [in] The USD path of the gripper
Returns:: The current status of the gripper or empty string if not found

std::vector<std::string> getAllGrippers() const#

Gets all grippers currently managed by this manager.

Returns:: A vector of prim paths representing all grippers

SurfaceGripperComponent *getGripper(const std::string &primPath)#

Gets a specific gripper component by its path.

Parameters:: primPath – [in] The USD path of the gripper
Returns:: Pointer to the gripper component if found, nullptr otherwise

SurfaceGripperComponent *getGripper(const pxr::UsdPrim &prim)#

Gets a specific gripper component by its USD prim.

Parameters:: prim – [in] The USD prim of the gripper
Returns:: Pointer to the gripper component if found, nullptr otherwise

virtual void initialize(const pxr::UsdStageWeakPtr stage)#

Initializes the application with a USD stage.

Sets up the stage reference and creates the notice listener

Parameters:: stage – [in] Weak pointer to the USD stage to be managed
Post:: Application is initialized with the stage and notice listener

inline virtual void initComponents()#

Initializes components from the current stage.

Scans the USD stage for prims matching component types and creates corresponding components. Uses the USD runtime API for efficient traversal.

inline virtual void onPhysicsStep(float dt)#

Updates components during physics simulation steps.

Override this to implement physics-specific component updates

Parameters:: dt – [in] Physics time step in seconds

inline virtual void onComponentRemove(const pxr::SdfPath &primPath)#

Removes components associated with a prim and its descendants.

Safely removes components when their corresponding prims are deleted from the stage. Uses a mutex to ensure thread-safe component removal.

Thread Safety: This method is thread-safe

Parameters:: primPath – [in] Path to the prim being removed

inline virtual void deleteAllComponents()#

Removes all components and performs cleanup.

Thread-safe method to remove all components and release their resources

Thread Safety: This method is thread-safe

inline pxr::UsdStageWeakPtr getStage()#

Retrieves the managed USD stage.

Returns:: Weak pointer to the current USD stage

Protected Attributes

std::unordered_map<std::string, std::unique_ptr<SurfaceGripperComponent>> m_components#: Map of component paths to their corresponding component instances.

std::unique_ptr<PrimManagerUsdNoticeListener> m_noticeListener#: USD notice listener for stage changes.

std::mutex m_componentMtx#: Mutex for thread-safe component operations.

pxr::UsdStageWeakPtr m_stage = nullptr#: Weak pointer to the managed USD stage.

double m_timeSeconds = 0#: Current simulation time in seconds.

int64_t m_timeNanoSeconds = 0#: Current simulation time in nanoseconds.

double m_timeDelta = 0#: Time delta for current tick in seconds.