Suction gripper in IsaacGym


Recently I came across the Surface Gripper tutorial in OmniIssacGym documentation.

I wanted to use this kind of gripper with IsaacGym envs/tasks from here. How do I integrate omni API gripper into IssacGym?

Or is there a way I can design my custom suction cup gripper?


Hi there, Surface Grippers are APIs available in Isaac Sim, which also provides reinforcement learning frameworks and an example repository OmniIsaacGymEnvs ( NVIDIA-Omniverse/OmniIsaacGymEnvs: Reinforcement Learning Environments for Omniverse Isaac Gym ( This repo is structured to be very similar to IsaacGymEnvs to ensure a smooth transition for users. We definitely encourage you to check out Isaac Sim.