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 |
|
node does not execute if disabled |
True |
ParentRigidBody |
|
The rigid body that is used as a surface Gripper |
|
GripPosition |
|
The point at which objects will be gripped |
|
GripThreshold |
|
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 |
|
Gripper breaking force |
1000000.0 |
TorqueLimit |
|
Torque breaking limit |
1000000.0 |
BendAngle |
|
maximum bend angle, degrees |
7.5 |
Stiffness |
|
Gripper stiffness |
10000.0 |
Damping |
|
Gripper damping |
1000.0 |
DisableGravity |
|
flag to disable gravity of picked object to compensate for object’s mass on robotic controllers |
True |
RetryClose |
|
Flag to indicate if gripper should keep attempting to close until it grips some object |
False |
onStep |
|
step to animate textures |
|
Delta |
|
time since last step in seconds |
|
Close |
|
call to close gripper |
|
Open |
|
call to Open gripper |
Outputs
Name |
Type |
Description |
Default |
---|---|---|---|
Closed |
|
Surface gripper is closed or not |
|
GripBroken |
|
triggered when surface gripper unexpectedly breaks open |