How to control suction in Genesis

[yyxssm]

Hi, thinks for your great work!

I have want to simulate suction in Genesis and I find that there is a suction model in genesis/assets/urdf/panda_bullet/panda_suction.urdf, thanks for your great work again.

I have load the suction model into simulator by using

import genesis as gs

gs.init(backend=gs.cpu)

scene = gs.Scene(
    show_viewer=True,
)

plane = scene.add_entity(
    gs.morphs.Plane(),
)
franka = scene.add_entity(
    gs.morphs.URDF(
        file='urdf/panda_bullet/panda.urdf',
        fixed=True,
    ),
)

scene.build()
for i in range(1000):
    scene.step()

Up to now I have not find how to control the suction to 'grasp' objects. I have found that there is a tutorial in examples/tutorials/IK_motion_planning_grasp.py, which is a gripper to grasp object, but I want to suck up an object with a suction and I don't know the exact command.

Could anyone help me? Thank you very much!