Surface_gripper [omni.isaac.surface_gripper]

class SurfaceGripper(usd_path: Optional[str] = None, translate: float = 0, direction: str = 'x', grip_threshold: float = 1, force_limit: float = 1000000.0, torque_limit: float = 1000000.0, bend_angle: float = 0.1308996938995747, kp: float = 100000.0, kd: float = 10000.0, disable_gravity: bool = True)

Bases: object

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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

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initialize(root_prim_path: str)None

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Parameters

root_prim_path (str) – [description]

is_closed()bool

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Returns

[description]

Return type

bool

open()None

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set_direction(value: float)None

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Parameters

value (float) – [description]

set_force_limit(value: float)None

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Parameters

value (float) – [description]

set_torque_limit(value: float)None

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Parameters

value (float) – [description]

set_translate(value: float)None

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Parameters

value (float) – [description]

update()None

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