[isaacsim.robot.surface_gripper] Isaac Sim Surface Gripper#

Version: 2.0.6

Helper to model Suction and Distance based grippers

Preview

Enable Extension#

The extension can be enabled (if not already) in one of the following ways:

Define the next entry as an application argument from a terminal.

APP_SCRIPT.(sh|bat) --enable isaacsim.robot.surface_gripper

Define the next entry under [dependencies] in an experience (.kit) file or an extension configuration (extension.toml) file.

[dependencies]
"isaacsim.robot.surface_gripper" = {}

Open the Window > Extensions menu in a running application instance and search for isaacsim.robot.surface_gripper. Then, toggle the enable control button if it is not already active.

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.

Omnigraph Nodes#

The extension exposes the following Omnigraph nodes:

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