Surface Gripper#

Surface Gripper

Installation#

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

Name	Type	Descripton	Default
Bend Angle (inputs:BendAngle)	`float`	maximum bend angle, degrees	7.5
Close (inputs:Close)	`execution`	call to close gripper	None
Damping (inputs:Damping)	`float`	Gripper damping	1000.0
Delta (inputs:Delta)	`float`	time since last step in seconds	0.0
Disable Gravity (inputs:DisableGravity)	`bool`	flag to disable gravity of picked object to compensate for object’s mass on robotic controllers	True
Force Limit (inputs:ForceLimit)	`float`	Gripper breaking force	1000000.0
Grip Position (inputs:GripPosition)	`target`	The point at which objects will be gripped	None
Grip Threshold (inputs:GripThreshold)	`float`	How far from an object it allows the gripper to lock in. Object will be pulled in this distance when gripper is closed	0.01
Open (inputs:Open)	`execution`	call to Open gripper	None
Parent Rigid Body (inputs:ParentRigidBody)	`target`	The rigid body that is used as a surface Gripper	None
Retry Close (inputs:RetryClose)	`bool`	Flag to indicate if gripper should keep attempting to close until it grips some object	False
Stiffness (inputs:Stiffness)	`float`	Gripper stiffness	10000.0
Torque Limit (inputs:TorqueLimit)	`float`	Torque breaking limit	1000000.0
Enabled (inputs:enabled)	`bool`	node does not execute if disabled	True
On Step (inputs:onStep)	`execution`	step to animate textures	None

Name	Type	Descripton	Default
Closed (outputs:Closed)	`bool`	Surface gripper is closed or not	None
Grip Broken (outputs:GripBroken)	`execution`	triggered when surface gripper unexpectedly breaks open	None

Name	Value
Unique ID	isaacsim.robot.surface_gripper.SurfaceGripper
Version	1
Extension	isaacsim.robot.surface_gripper
Has State?	False
Implementation Language	Python
Default Memory Type	cpu
Generated Code Exclusions	None
uiName	Surface Gripper
Categories	isaacSim
__categoryDescriptions	isaacSim,Surface Gripper inside Isaac Sim
Generated Class Name	OgnSurfaceGripperDatabase
Python Module	isaacsim.robot.surface_gripper