scenic.simulators.isaac.backends.robotiq

USD authoring for the Robotiq 2F-85 gripper (gripperStyle == "robotiq_2f85").

The stock Isaac UR5e asset ships the gripper without a working closed-loop linkage or usable drives, so before the articulation is created the backends patch the USD stage: attach the gripper, set the home pose, author the passive inner-knuckle joints, and configure the finger drives. These operations only use pxr/PhysX schemas, so they are shared by every backend.

Summary of Module Members

Functions

configureRobotiqContactMaterial	Bind a high-friction contact material to the gripper's collision geometry.
configureRobotiqGripper	Author the gripper attachment, home pose, closed-loop linkage, and drives.
configureRobotiqPickObjectContact	Make rigid objects graspable: contact material, CCD, mass, and offsets.
requireStagePrim	Return the prim at prim_path, raising if the stage or prim is missing.

Member Details

requireStagePrim(stage, prim_path)

Return the prim at prim_path, raising if the stage or prim is missing.

configureRobotiqGripper(stage, prim_path, profile)

Author the gripper attachment, home pose, closed-loop linkage, and drives.

configureRobotiqContactMaterial(stage, prim_path, profile)

Bind a high-friction contact material to the gripper’s collision geometry.

configureRobotiqPickObjectContact(stage, prim_paths, profile)

Make rigid objects graspable: contact material, CCD, mass, and offsets.