Isaac Sim Suction Gripper Setup
SUMMARY
This guide walks through connecting SuctionGripper, a vacuum end-effector modelled entirely in Isaac Sim with no hardware driver behind it, to a prim in a running Isaac Sim stage.
There is no Hardware Setup for this gripper as it's exclusively modelled for Nvidia Isaac Sim.
Simulation Setup
Start Isaac Sim with the bridge extension
Launch Isaac Sim with the telekinesis.isaacsim.bridge extension enabled and the timeline playing.
Connect the gripper from Synapse
python
from telekinesis.synapse.tools.suction_grippers import custom
gripper = custom.SuctionGripper()
gripper.connect(simulation_prim_path="/World/suction_gripper")
gripper.disconnect()