Surface_gripper [omni.isaac.surface_gripper]

class CreateSurfaceGripper(prim_name: str = 'SurfaceGripperActionGraph', surface_gripper_prim=None)

Bases: omni.kit.commands.command.Command

Commands class to create a Utility to control .

Typical usage example:

result, prim = omni.kit.commands.execute(
    "RangeSensorCreateGeneric",
    path="/GenericSensor",
    parent=None,
    min_range=0.4,
    max_range=100.0,
    draw_points=False,
    draw_lines=False,
    sampling_rate=60,
)
do()
undo()
class Extension

Bases: omni.ext._extensions.IExt

on_shutdown()
class MenuItemDescription(name: str = '', glyph: str = '', header: Optional[str] = None, appear_after: Union[list, str] = '', enabled: bool = True, ticked: bool = False, ticked_value: bool = False, sub_menu=None, hotkey: Optional[Tuple[int, int]] = None, name_fn: Optional[Callable] = None, show_fn: Optional[Callable] = None, enable_fn: Optional[Callable] = None, ticked_fn: Optional[Callable] = None, onclick_fn: Optional[Callable] = None, unclick_fn: Optional[Callable] = None, onclick_right_fn: Optional[Callable] = None, original_svg_color: bool = False, original_menu_item=None, user={})

Bases: object

name is name shown on menu. (if name is “” then a menu spacer is added. Can be combined with show_fn) glyph is icon shown on menu show_fn funcion or list of functions used to decide if menu item is shown. All functions must return True to show hotkey hotkey for menu item enabled enabled True/False is item enabled ticked menu item is ticked when True sub_menu is sub menu to this menu enable_fn funcion or list of functions used to decide if menu item is enabled. All functions must return True to be enabled onclick_fn function called when user clicks menu item onclick_right_fn function called when user right clicks menu item ticked_fn funcion or list of functions used to decide if menu item is ticked appear_after is name of menu item to insert after. Used for appending menus, can be a list or string

MAX_DEPTH = 16
add_on_delete_func(on_delete_fn: callable)
add_on_hotkey_update_func(hotkey_update_fn: callable)
get_action_mapping_desc()
remove_on_delete_func(on_delete_fn: callable)
remove_on_hotkey_update_func(hotkey_update_fn: callable)
set_hotkey(hotkey)
class SurfaceGripper(usd_path: Optional[str] = None, translate: float = 0, direction: str = 'x', grip_threshold: float = 0.01, force_limit: float = 1000000.0, torque_limit: float = 10000.0, bend_angle: float = 0.1308996938995747, kp: float = 100.0, kd: float = 100.0, disable_gravity: bool = True)

Bases: object

[summary]

Parameters
  • usd_path (Optional[str], optional) – [description]. Defaults to None.

  • translate (float, optional) – [description]. Defaults to 0.

  • direction (str, optional) – [description]. Defaults to “x”.

  • grip_threshold (float, optional) – [description]. Defaults to 1.

  • force_limit (float, optional) – [description]. Defaults to 1.0e6.

  • torque_limit (float, optional) – [description]. Defaults to 1.0e6.

  • bend_angle (float, optional) – [description]. Defaults to np.pi/24.

  • kp (float, optional) – [description]. Defaults to 1.0e5.

  • kd (float, optional) – [description]. Defaults to 1.0e4.

  • disable_gravity (bool, optional) – [description]. Defaults to True.

close()None

[summary]

initialize(root_prim_path: str)None

[summary]

Parameters

root_prim_path (str) – [description]

is_closed()bool

[summary]

Returns

[description]

Return type

bool

open()None

[summary]

set_direction(value: float)None

[summary]

Parameters

value (float) – [description]

set_force_limit(value: float)None

[summary]

Parameters

value (float) – [description]

set_torque_limit(value: float)None

[summary]

Parameters

value (float) – [description]

set_translate(value: float)None

[summary]

Parameters

value (float) – [description]

update()None

[summary]

add_menu_items(menu: list, name: str, menu_index: int = 0, rebuild_menus: bool = True)

add a list of menus items to menu. menu is list of MenuItemDescription() name is name to appear when menu is collapsed menu_index is horizontal positioning rebuild_menus is flag to call rebuild_menus when True

remove_menu_items(menu: list, name: str, rebuild_menus: bool = True)

remove a list of menus items to menu. menu is list of MenuItemDescription() name is name to appear when menu is collapsed rebuild_menus is flag to call rebuild_menus when True