How to control my gripper in the Script Editor

Hi all, I’m trying to control my robotic arm. I’m a newbie to robotic arms. I’m having some issues looking at the documentation.

I’m trying to control my gripper, I’ve defined this gripper, and I’ve added a “cobotta_pro_900” robotic arm to my stage. I wanted to turn the Gripper off, but after I ran the code in the Script Editor (because I didn’t want to simulate in SimulationAPP), it didn’t happen. I don’t know what my mistake was. Hope I can be helped.

from omni.isaac.core import World
from omni.isaac.manipulators import SingleManipulator
from omni.isaac.manipulators.grippers import ParallelGripper
from omni.isaac.core.utils.stage import add_reference_to_stage
from omni.isaac.core.utils.types import ArticulationAction
import numpy as np
import asyncio
import omni.kit.app
import omni.client
from pxr import UsdPhysics

gripper = ParallelGripper(
end_effector_prim_path=“/World/cobotta_pro_900/onrobot_rg6_base_link”,
joint_prim_names=[“finger_joint”, “right_outer_knuckle_joint”],
joint_opened_positions=np.array([0, 0]),
joint_closed_positions=np.array([6.28, -6.28]),
action_deltas=np.array([-6.28, 6.28]),
)

my_world = World(stage_units_in_meters=1.0)
my_denso = my_world.scene.add(SingleManipulator(prim_path=“/World/cobotta_pro_900”, name=“cobotta_robot27”,
end_effector_prim_name=“onrobot_rg6_base_link”, gripper=gripper))

joints_default_positions = np.zeros(12)
joints_default_positions[7] = 0.628
joints_default_positions[8] = 0.628
my_denso.set_joints_default_state(positions=joints_default_positions)
my_world.reset()

close_action = ArticulationAction(joint_positions=np.repeat(gripper.joint_closed_positions, 6))

my_denso.apply_action(close_action)