Add surface gripper

1. Create an action graph via the menu Create → Visual Scripting → Action Graph.
2. Add a surface gripper node from the menu.
3. In the surface gripper node’s Input properties, provide the previously created surface gripper object as the surface gripper parameter.

Once you have tested the surface gripper successfully, you can then connect an On IO Change node with the surface gripper node. For further details refer to Robot controller IOs.

1. Create a D6 joint via the menu Create → Physics → Joint → D6 Joint inside the scope of one of the tool’s Xforms.
2. Via the menu Add → Edit API Schema, add the IsaacAttachmentPointAPI to the joint.
3. The joint must have Exclude from Articulation set to true in its properties panel.
4. Set the local position and rotation of the joint coordinate with respect to Body 0 and Body 1.
   Any prim with rigid body properties can be selected. This defines the contact point for where the workpiece is gripped. See what happens if you don’t define Body 1 in the troubleshooting section.
   • Switch between the local and world coordinate system display using the toolbar.
   • Rotate the coordinate frame so the z-axis points downwards in the direction where the workpiece will be located. The initial rotation of the joint in the video is already pointing downwards.
5. In the properties panel, scroll to the Raw USD Properties and define the Forward Axis to Z.
   If needed, the clearance offset can also be specified.
   The clearance offset defines the beginning of the measurement range for the ray casting that checks whether an object is ready to pick.
6. Repeat steps 1-5 for all suction cups of the gripper.