isaacsim6.0对于lula的废弃

[asdttttt123456]

我想问下，在isaacsim5.0中可以用lula实现机械爪跟随目标的位置而进行移动，那么在6.0中用什么方法可以对机械爪进行同样的目标模拟

[PeterL-NV]

Hi, Lula is still supported in Isaac Sim 6.0, the Lula solvers themselves are supported. What is deprecated is the older isaacsim.robot.manipulators framework. That's very likely the "Lula gripper" pipeline your 5.0 code used: the manipulators gripper controller, often paired with a Lula-driven arm. It still imports for back-compat, but it's on the deprecation path.

Methods for gripper target tracking in 6.0

1. Joint position-drive targets (fundamental, recommended). Put a PD drive on the gripper's finger joints and command a target — this is the core mechanism the gripper controllers were wrapping anyway:

# author-time: PD drive on each finger joint (prismatic or revolute)
drive = UsdPhysics.DriveAPI.Apply(finger_joint_prim, "linear")  # or "angular"
drive.CreateTypeAttr().Set("force")
drive.CreateStiffnessAttr().Set(1.0e5)   # Kp — tune for tracking stiffness
drive.CreateDampingAttr().Set(1.0e3)     # Kd
drive.CreateTargetPositionAttr().Set(open_pos)

At runtime, drive the target through the current articulation API (isaacsim.core.experimental.prims.Articulation) by setting DOF position targets / applying an ArticulationAction each step. The drive tracks the commanded position — exactly the "follow a target position" behavior.

2. Single command → both fingers (coupled). So one target moves the whole gripper symmetrically:

• Mimic joint — works on prismatic in 6.0.
  PhysxMimicJointAPI on the follower, referenceJoint→master, gearing=±1.
• or two mirrored drives (equal magnitude, opposite sign) — the standard shipped-gripper pattern.

3. Deprecated-but-available gripper controller. If you want minimal code changes from 5.0,
   isaacsim.robot.manipulators.grippers.ParallelGripper (open/close, apply_action) still imports from the deprecated namespace and works — just expect it to be phased out.

4. Arm-reaches-a-Cartesian-target (if that's what "target" meant). If in 5.0 you used Lula to move the arm so the gripper reaches a pose, that's unchanged in 6.0: use RmpFlow or LulaKinematicsSolver + ArticulationKinematicsSolver via isaacsim.robot_motion.motion_generation (still current), or the GPU isaacsim.robot_motion.cumotion as an alternative. The gripper open/close is then handled separately by methods 1–3.

[asdttttt123456]

Thank you very much for your response to my question.Thanks UE+建模 ***@***.***

[asdttttt123456]

在newton中lula还可以使用吗，或者说有另外一种方法去替代lula的这个功能 UE+建模 ***@***.***

[PeterL-NV]

Yes, the options we provided in the previous comment still work if you switch to the Newton backend.