Robotiq_hande_gripper control

Omniverse Isaac Sim
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1

I want to open / close simple robotiq_hande_gripper, so I created this USD file, but I can’t control the gripper py publishing the joint states, can you please tell me how to fix it? thanks.

hande

import rclpy
from rclpy.node import Node
from sensor_msgs.msg import JointState
import numpy as np
import time


class TestROS2Bridge(Node):
    def __init__(self, jnts_topic: str, include_gripper: bool = False):
        super().__init__("test_ros2bridge")
        self._include_gripper = include_gripper
        # Create the publisher. This publisher will publish a JointState message to the /joint_command topic.
        self.publisher_ = self.create_publisher(JointState, jnts_topic, 10)

        # Create a JointState message
        self.joint_state = JointState()
        

        self.joint_state.name.append("robotiq_hande_left_finger_joint")
        self.joint_state.name.append("robotiq_hande_right_finger_joint")

        # Initialize joint positions (for robot and gripper)
        self.joint_state.position = np.zeros(len(self.joint_state.name), dtype=np.float64).tolist()

        # Store the default positions
        self.gripper_default = np.array([0.0, 0.0])  # Default gripper joint positions (if included)

        self.max_joints = np.array([0.025, -0.05])
        self.min_joints = np.array([0.0, 0.003])

        # Track the time for sin-based movement of joints
        self.time_start = time.time()

        # Create a timer to periodically send joint commands
        timer_period = 0.05  # seconds
        self.timer = self.create_timer(timer_period, self.timer_callback)

    def timer_callback(self):
        # Set timestamp
        self.joint_state.header.stamp = self.get_clock().now().to_msg()

        # Compute joint positions (robot and gripper)
        joint_position = (
            np.sin(time.time() - self.time_start)
            * (self.max_joints - self.min_joints)
            * 0.5
            + self.gripper_default
        )


        # Make sure gripper joints are within the allowed range
        joint_position[-2:] = np.clip(joint_position[-2:], self.min_joints[-2:], self.max_joints[-2:])

        # Update the joint positions
        self.joint_state.position = joint_position.tolist()

        # Publish the JointState message
        self.publisher_.publish(self.joint_state)


def main(args=None):
    jnts_command_topic = "/isaac/joint_command"
    include_gripper_ = True  # Set to True if you want to include gripper joints

    rclpy.init(args=args)

    # Initialize the ROS2 node with the option to include gripper joints
    ros2_publisher = TestROS2Bridge(
        jnts_topic=jnts_command_topic,
        include_gripper=include_gripper_
    )

    rclpy.spin(ros2_publisher)

    # Destroy the node explicitly
    ros2_publisher.destroy_node()
    rclpy.shutdown()

if __name__ == "__main__":
    main()

robotiq_hande_w_act_graph.zip (2.9 MB)

Isaac Sim Version

4.5.0

Operating System

Ubuntu 22.04

GPU Information

  • Model: GeForce RTX 2070
  • Driver Version: 550.144.03

robotiq_hande_w_act_graph.zip (2.9 MB)