I am trying to pick an object in Omniverse by using „REB_SurfaceGripper“-module and sending commands via Isaac SDK. This works fine when using the „sortbot_sim.usd“ sample. I tried to transfer this functionality to a scene with an own simple robot, which only has a prismatic joint which moves up and down and is supposed to pick up a „small_KLT“. But here I get the following error messages at the moment the gripper touches the object:
2021-04-15 10:36:45 [12,383,899ms] [Error] [omni.isaac.dynamic_control.plugin] DcGetRigidBodyPose: Invalid or expired body handle
2021-04-15 10:36:45 [12,383,899ms] [Error] [omni.isaac.dynamic_control.plugin] DcSetRigidBodyDisableGravity: Invalid or expired body handle
The output channel „iostate“ of REB_SurfaceGripper outputs 1, but after that error I can not control the robot with „REB_JointControl“ anymore. It does not react to my commands until I open the gripper. The object to be grasped is set as a rigid body and has mass properties.
Could you tell me what causes these errors and how i can solve it?
Any help would be greatly appreciated, thanks!
Gripper_Test_Robot.zip (14.2 KB)