Surface Gripper

Surface Gripper

Installation

To use this Node, you must enable omni.isaac.surface_gripper in the Extension Manager.

Inputs

Name

Type

Description

Default

enabled

bool

node does not execute if disabled

True

ParentRigidBody

bundle

The rigid body that is used as a surface Gripper

GripPosition

bundle

The point at which objects will be gripped

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

ForceLimit

float

Gripper breaking force

1000000.0

TorqueLimit

float

Torque breaking limit

1000000.0

BendAngle

float

maximum bend angle, degrees

7.5

Stiffness

float

Gripper stiffness

10000.0

Damping

float

Gripper damping

1000.0

DisableGravity

bool

flag to disable gravity of picked object to compensate for object’s mass on robotic controllers

True

RetryClose

bool

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

False

onStep

execution

step to animate textures

Delta

float

time since last step in seconds

Close

execution

call to close gripper

Open

execution

call to Open gripper

Outputs

Name

Type

Description

Default

Closed

bool

Surface gripper is closed or not

GripBroken

execution

triggered when surface gripper unexpectedly breaks open