Adding new robot model without gripper

Omniverse Isaac Sim
1

Hello,

I am following the “Adding a new manipulator” turorial (Adding a New Manipulator — Omniverse IsaacSim) but with a different robot URDF. The URDF only contains the robot links and no grippers. I have created the USD model with this URDF. I now want to load the USD in Isaac Sim using the python API. How would the python code look like in this case? The example codes I have found so far, they all load manipulators that have grippers. How would the python code look like if the manipulator has no gripper?

Thanks in advance.

2

Ok, the solution to this problem is discussed here Unable to use world.reset() using a SingleManipulator without a gripper.