Gripper Get Properties

SUMMARY

Get Properties returns how the gripper's grip behaves: force limits, reach, retry interval and forward axis.

The Skill

properties = gripper.get_properties()

The Code

"""
Demonstrates reading how a suction gripper's grip behaves.

Supports Isaac Sim only.

Usage:
    python get_properties.py --prim_path <PRIM_PATH>
"""

import argparse
from loguru import logger

from telekinesis.synapse.tools.suction_grippers import isaacsim


def main(prim_path: str) -> None:
    """Reads the grip properties of a gripper."""

    #===================== Create Gripper ======================================
    gripper = isaacsim.SuctionGripper()

    try:
        #===================== Connect Gripper =================================
        gripper.connect(simulation_prim_path=prim_path)

        # ==================== Run Skill ====================================
        result = gripper.get_properties()
        logger.success(f"Grip properties: {result}")
    except (ConnectionError, OSError) as e:
        logger.error(f"Error occurred: {e}")
    finally:
        if gripper.is_connected:
            gripper.disconnect()


if __name__ == "__main__":
    p = argparse.ArgumentParser(description="Suction gripper get_properties")
    p.add_argument("--prim_path", type=str, required=True,
                   help='Isaac Sim gripper prim path, e.g. "/World/suction_gripper"')
    args = p.parse_args()

    main(prim_path=args.prim_path)

Running the Example

python get_properties.py --prim_path /World/suction_gripper

For all options:

python get_properties.py --help

Parameter Configuration

This skill takes no input parameters.

Returns

Type	Description
dict	coaxial_force_limit and shear_force_limit (N), max_grip_distance (m), retry_interval (s) and forward_axis.

Raises

Exception	Condition
RuntimeError	The gripper is not connected or the request fails

How to Tune the Parameters

This skill takes no parameters. Read the properties before Gripper Set Properties to see the starting values.

Where to Use the Skill

• Tuning - Read the current values before changing them.
• Logging - Record the grip configuration with your results.

When Not to Use the Skill

• You need per-cup values - use Gripper Get Attachment Points.
• Using real hardware - this is Isaac Sim only.