Isaac Gripper Controller Node#

Isaac Sim Gripper Controller Node

Installation#

To use this node enable isaacsim.robot.manipulators in the Extension Manager.

Name	Type	Descripton	Default
Articulation Root Prim (inputs:articulationRootPrim)	`target`	Articulation root prim of the robot	None
Close (inputs:close)	`execution`	close gripper call	None
Close Position (inputs:closePosition)	`double[]`	closing position for the gripper joints, will use the joint limit if not provided	None
Exec In (inputs:execIn)	`execution`	tick	None
Gripper Prim (inputs:gripperPrim)	`target`	The gripper’s root link prim	None
Gripper Speed (inputs:gripperSpeed)	`double[]`	gripper speed (distance per frame)	[]
Joint Names (inputs:jointNames)	`token[]`	gripper joint names	[]
Open (inputs:open)	`execution`	open gripper call	None
Open Position (inputs:openPosition)	`double[]`	maximum opening position for the gripper joints, will use the joint limit if not provided	None
Stop (inputs:stop)	`execution`	stop gripper call	None

Name	Type	Descripton	Default
Joint Names (outputs:jointNames)	`token[]`	gripper joint names	None
Position Commands (outputs:positionCommands)	`double[]`	joint commands to the articulation controller	None

Name	Value
Unique ID	isaacsim.robot.manipulators.IsaacGripperController
Version	1
Extension	isaacsim.robot.manipulators
Has State?	False
Implementation Language	Python
Default Memory Type	cpu
Generated Code Exclusions	None
uiName	Isaac Gripper Controller Node
Categories	isaacSim
__categoryDescriptions	isaacSim,Controller for Grippers
Generated Class Name	OgnIsaacGripperControllerDatabase
Python Module	isaacsim.robot.manipulators