How to add a Surface Gripper Controller

Omniverse Isaac Sim
1

I created a gripper in Isaac Sim by loading STEP files, setting them as rigid bodies, creating Prismatic Joints, and adding linear drives. I then saved the gripper as a .usd file. In my Isaac Sim project, I attached this gripper to the end of a robot. Since the grasping was unstable, I decided to use a Surface Gripper Controller to improve the grip. However, whether I add the Surface Gripper Controller to the robot’s end effector axis or the gripper itself, during the simulation, when I click “Send Impulse” in the Impulse Event, the console returns the following error:

[Error][omni.isaac.dynamic_control.plugin]DcGetD6JointConstraintsBroken: Invalid D6 Joint handle

Has anyone experienced this issue and found a solution?

Isaac Sim Version

4.2.0

Operating System

Ubuntu 22.04

GPU Information

  • Model: RTX 4080
  • Driver Version: 550.120

Error Messages

[Error][omni.isaac.dynamic_control.plugin]DcGetD6JointConstraintsBroken: Invalid D6 Joint handle

Screenshots or Videos

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2

Did you check out Surface Gripper Extension — Omniverse IsaacSim?

3

I have achieved object grasping by controlling the opening and closing of the gripper, so I am no longer using the Surface Gripper Controller.