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isaac-sim / IsaacLab

Unified framework for robot learning built on NVIDIA Isaac Sim
https://isaac-sim.github.io/IsaacLab
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[Question] Tethering object to the gripper in LeggedMobileManipulator #75

Closed dengyh16code closed 1 year ago

dengyh16code commented 1 year ago

We’re trying to implement a simple gripper that works not by grasp friction but by tethering the object to the gripper when the gripper is close enough. I have used class LeggedMobileManipulator in issac orbit. I found there is a class named SurfaceGripper (https://docs.omniverse.nvidia.com/py/isaacsim/source/extensions/omni.isaac.surface_gripper/docs/index.html) can solve this problem. But how can I add SurfaceGripper to LeggedMobileManipulator in Issac orbit. And are there other solutions that can achieve this goal?

Mayankm96 commented 1 year ago

You can probably make it as an actuator group and it through that.

Mayankm96 commented 1 year ago

Closing the issue due to no activity. Please re-open if still unresolved.