SurfaceGripperInterface

Fully qualified name: isaacsim::robot::surface_gripper::SurfaceGripperInterface

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

const char *(*GetGripperStatus)(const char *primPath)

Function pointer to get the current status of a surface gripper.

bool (*OpenGripper)(const char *primPath)

Function pointer to open/release a surface gripper.

bool (*CloseGripper)(const char *primPath)

Function pointer to close/activate a surface gripper.

bool (*SetGripperAction)(const char *primPath, const float action)

Function pointer to set a specific gripper action value.

std::vector<std::string> (*GetGrippedObjects)(const char *primPath)

Function pointer to get the list of objects currently gripped.