API#

Python API#

CreateSurfaceGripper

Creates Action graph containing a Surface Gripper node, and all prims to facilitate its creation

Surface_Gripper_Properties

Properties for the Surface Gripper

Surface_Gripper


class CreateSurfaceGripper(*args: Any, **kwargs: Any)#

Bases: Command

Creates Action graph containing a Surface Gripper node, and all prims to facilitate its creation

Typical usage example:

result, prim  = omni.kit.commands.execute(
        "CreateSurfaceGripper",
        prim_name="SurfaceGripperActionGraph",
        conveyor_prim="/SurfaceGripperRigidBody"
    )
class Surface_Gripper_Properties#

Bases: pybind11_object

Properties for the Surface Gripper

property bendAngle#

maximum bend angle for the gripper(float)

property d6JointPath#

USD path to joint (str)

property damping#

Gripper Damping(float)

property disableGravity#

Flag to disable gravity on selected object to compensate for its mass(bool)

property forceLimit#

Force Breaking limit (float)

property gripThreshold#

Threshold distance the gripper will respond to closing (float)

property offset#

Transform from parent body to joint (omni.physics.tensors.Transform)

property parentPath#

USD Path to parent body (str)

property retryClose#

Flag to indicate if gripper should keep attempting to close until it grips some object(bool)

property stiffness#

Gripper Stiffness(float)

property torqueLimit#

Torque Breaking limit (float)

class Surface_Gripper#

Bases: pybind11_object

close(
self: isaacsim.robot.surface_gripper._surface_gripper.Surface_Gripper,
) → bool#

Attempts to close the gripper.

Returns:

True if any object is within the gripper threshold and it closes, False otherwise.

initialize(
self: isaacsim.robot.surface_gripper._surface_gripper.Surface_Gripper,
arg0: isaacsim.robot.surface_gripper._surface_gripper.Surface_Gripper_Properties,
) → bool#

Initializes the surface gripper object, setting the given properties

Parameters:

arg0 – surface gripper properties

Returns:

True if initialization is succesful, False otherwise.

is_attempting_close(
self: isaacsim.robot.surface_gripper._surface_gripper.Surface_Gripper,
) → bool#
Returns:

True if gripper is attempting to close, False otherwise.

is_closed(
self: isaacsim.robot.surface_gripper._surface_gripper.Surface_Gripper,
) → bool#
Returns:

True if gripper is closed, False otherwise.

open(
self: isaacsim.robot.surface_gripper._surface_gripper.Surface_Gripper,
) → bool#

Attempts to open the gripper.

Returns:

True if gripper was closed and it was succesfully open, False otherwise.

update(
self: isaacsim.robot.surface_gripper._surface_gripper.Surface_Gripper,
) → None#

Updates the internal status of the gripper. This must be called on every step the gripper is closed to verify the gripper did not break contact with the gripped object.

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