Physics Grippers#
This capability defines structured gripper interaction points on end-effector robot assets.
Summary#
Gripper sites encode the approach direction, graspable-tube axis, and maximum jaw separation needed by grasp planning and robot control systems. This capability defines the Neutral level (plain OpenUSD, discovery via the simready:attachment:socketType = "Gripper" attribute) plus the MuJoCo and Isaac site variants.
The Isaac level is a superset of the Neutral level: a gripper site keeps the simready:attachment:socketType = "Gripper" discovery attribute and the approach, grip-line, and jaw-opening data, and additionally applies IsaacSiteAPI with an authored isaac:Description so Isaac Sim tooling can discover and configure the site automatically.
Schema / OpenUSD Specification#
Gripper sites use core USD geometry and, optionally, the Isaac Sim site schema.