End Effector Prim Path Setting

Omniverse Isaac Sim
1

Thank you for your support.

I have a question about a prim path of the end effector.
I’m trying to use Kinova Jaco2 (j2n6s300).

I was able to successfully import the URDF file but when I create a SingleManipulator using Parallel Gripper I encountered this problem.

This is how I create a manipulator.

gripper = ParallelGripper(
            end_effector_prim_path="/j2n6s300/j2n6s300_end_effector",
            joint_prim_names=["j2n6s300_link_finger_1", "j2n6s300_link_finger_3"],
            joint_opened_positions=np.array([0, 0]),
            joint_closed_positions=np.array([1.0, 1.0]),
        )

jaco2 = SingleManipulator(
            prim_path="/j2n6s300/j2n6s300_link_base",
            name="j2n6s300",
            end_effector_prim_name="j2n6s300_end_effector",
            gripper=gripper,
        )

I got this error.

 Prim path expression /j2n6s300/root/j2n6s300_end_effector is invalid, a prim matching the expression needs to created before wrapping it as view

Why is root added to the end effecotor’s prim path??

My tree is

image

I’m using isaac sim 2023.1.1.
Thank you for your help.

2

I got the same issue before. To resolve it, I removed end_effector_prim_name argument from the SingleManipulator() and used end_effector_prim_path argument instead. In your case, based on the structure of your tree, setting end_effector_prim_path="/j2n6s300/j2n6s300_end_effector" should work as expected.