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import_grippers.md

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Importing a new Gripper

To get a new gripper into Isaac Sim, import it via the GUI and save it as a .usd file in your gripper directory. Follow the same format as the grippers in the repository gripper directory. Make sure your .usd grippers are tested and ready for simulation. For quicker setup, use the GUI example from Isaac Sim Manual.

Steps to Add grippers:

  1. Prepare the .usd File: Import your gripper into Isaac Sim, ensuring it has the right attributes like max efforts, joint velocities, and colliders. Convert .urdf files using Isaac Utils > Workflows > URDF Importer.

  1. (Recommended) Use the Isaac Sim GUI to ensure the gripper moves as intended.

  1. Update Gripper Information: Add your gripper's details to the gripper_isaac_info.json file. Each gripper needs a unique ID matching the .json grasp files:

    "EF_axis": Indicates which direction (x, y, or z) the gripper's palm faces (values are +/- 1, 2, 3).

    "physics_frequency": The frequency for PhysiX engine evaluations during grasp tests.

    "contact_names": Names of joints to monitor for contact; must match .usd model exactly.

    "contact_th": Number of contacts needed to classify a grasp as successful.

    "opened_dofs": Degrees of Freedom (DoF) values (or joint values) when the gripper is fully open.

    "palm_pose": A reference pose for transferring grasps from the MGG dataset, represented as (x,y,z,qw,qx,qy,qz). For more on grasp transfer, see the paper.

  2. Verify in Simulation: Run a simulation with your new gripper to confirm functionality. Lower the number of workstations to streamline testing. Remember, new gripper folders should match the path structure in the repository: grippers/gripper_ID/gripper_ID/gripper_ID.usd