Hi, I please understand I am a newbie on such things…
Please understand those non-expert-like words below…
I am currently trying to implement surface gripper class in my custom designed gripper.
I tried step by step given example in :
https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/ext_omni_isaac_surface_gripper.html
And I just want one simple thing: to exchange the cone with my custom gripper.
I brought the gripper using ‘create_prim’:
self.MG10Geom = create_prim(prim_path=’/me_and_my_robot’,usd_path=self.asset_path, position=np.asarray(self.gripper_start_pose.p))
This is a single-joint model so the stage looks like this:
- physicsScene
- groundPlane
- CollisonMesh
- ColliconPlane
- DistantLight
- me_and_my_robot
- looks (Scope)
- mg10 (Xform)
- visuals (mesh)
- collisions (Mesh)
- root_joint (physicsFixedJoint)
- Box
And I applied surface gripper on
self.sgp.parentPath = “/me_and_my_robot/mg10”
Everything except those are the same as provided example code.
Everything occurs no error messages, but the surface gripper is not closing.
I have checked after every line of ‘surface_gripper.is_closed()’, but there is no closing occuring.
What am I doing wrong?
I hope I am providing enough material to create new question.