For beginner to understand a how to do python scripting with current available prim in isaac sim using script editor

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Isaac Sim Version

2023.1.1

Operating System

Ubuntu 20.04

GPU Information

  • Model:
  • Driver Version:

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I have a usd where i have world as a default prim, i have few conveyor belts and also few cubes placed on the top of conveyor belt, i have ur10_long_suction manipulator robot imported from assets i want to pick and place using this robot with python scripting using script editor for that i need to pass gripper, but i am unable to get the gripper object, my question if i having a robot already in USD how can i get the gripper to pass it to PickPlaceController