Accessing surface gripper in RL environment

I set up a RL environment in Isaac Sim using OmniIsaacGymEnv plug in and the RLTask class. I am using the UR10 class set up in omni.isaac.universal_robots directory.
I view the robot instances through ArticulationView and the ee_link through RigidPrimView but I cannot gain access to the gripper methods. I would like to see the same behavior as the pick_place example. Any hints? Code below.

def set_up_scene(self, scene) -> None:
        self.get_ur10()
        self.get_target()
        super().set_up_scene(scene)
        self._robots = ArticulationView(prim_paths_expr="/World/envs/.*/ur10", name="ur10_view", reset_xform_properties=False)
        scene.add(self._robots)
        # end-effectors view
        self._hands = RigidPrimView(prim_paths_expr="/World/envs/.*/ur10/ee_link", name="hand_view", reset_xform_properties=False)
        scene.add(self._hands)
        # target view
        self._targets = RigidPrimView(prim_paths_expr="/World/envs/.*/target", name="target_view", reset_xform_properties=False)
        scene.add(self._targets)

I entered with the same problem. Have you found a solution for this? Thank you.

Hi there, in order to access the UR10 SurfaceGripper, you would need to create an instance of the UR10 class in the task self._robot = UR10(...) and add the robot instance to the scene with scene.add(self._robot). Then, you can access the SurfaceGripper component with self._robot.gripper.