Is it possible to support sucking robotic arm?

I hope to try robot bin picking tasks with suction cups, so is it possible to do it in isaac gym? thx

Hi @floodsung,

I’m afraid that Isaac Gym doesn’t currently support a suction-cup like gripper, and it’s not likely to make the cut for our next release.

Isaac Sim does have the means to support this through the Surface Gripper (Surface Gripper — Omniverse Robotics documentation). You may be able to train your model to reach your target object in Gym, but then execute the model on the Isaac Sim side.

Once our work bringing the Gym-style tensor APIs to Omniverse is ready of course, you will be able to handle this directly on the Isaac Sim side.

Sorry,
-Gav

Thank you