Surface_gripper [omni.isaac.surface_gripper]

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

Bases: omni.kit.commands.command.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"
    )

do()

undo()

class Extension

Bases: omni.ext._extensions.IExt

menu_click()

on_shutdown()

on_startup(ext_id: str) → None

class MenuItemDescription(name: str = '', glyph: str = '', header: Optional[str] = None, appear_after: Union[list, str] = '', enabled: bool = True, ticked: bool = False, ticked_value: Optional[bool] = None, 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_action: Optional[Tuple] = None, unclick_action: Optional[Tuple] = 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 header is True/False to show seperator above item 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 name_fn is function to get menu name show_fn funcion or list of functions used to decide if menu item is shown. All functions must return True to show enable_fn funcion or list of functions used to decide if menu item is enabled. All functions must return True to be enabled onclick_action action called when user clicks menu item unclick_action action called when user releases click on menu item onclick_fn function called when user clicks menu item (deprecated) unclick_fn function called when user releases click on menu item (deprecated) onclick_right_fn function called when user right clicks menu item (deprecated) 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 user is user dictonary that is passed to menu

MAX_DEPTH = 16

add_on_delete_func(on_delete_fn: callable)

add_on_hotkey_update_func(hotkey_update_fn: callable)

get_action_mapping_desc()

has_action()

json_enc()

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, delegate=None): 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 delegate ui.MenuDelegate delegate

class partial

Bases: object

partial(func, *args, **keywords) - new function with partial application of the given arguments and keywords.

args: tuple of arguments to future partial calls

func: function object to use in future partial calls

keywords: dictionary of keyword arguments to future partial calls

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