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Isaac Sim Version
5.1.0
5.0.0
4.5.0
4.2.0
4.1.0
4.0.0
4.5.0
2023.1.1
2023.1.0-hotfix.1
Other (please specify):
Operating System
Ubuntu 24.04
Ubuntu 22.04
Ubuntu 20.04
Windows 11
Windows 10
Other (please specify):
GPU Information
- Model:
- Driver Version:
Topic Description
Detailed Description
Previously in Isaac sim version 4.2 and 4.5, the API for adding surface grippers was simple and more intuitive to use. However from version 5.0, quite a lot has changed for the surface grippers. I have to tried to follow the example of the cartesian robot with grippers but can’t seem to make it work in my own custom extension. My goal is to attach a gripper to the end effector of the UR10 and then activate it to pick up a cube.
Steps to Reproduce
- Load the extension
- Run the extension
- The gripper never closes and the status always remains “open”
Error Messages
(If applicable, copy and paste any error messages you received)
Screenshots or Videos
(If applicable, add screenshots or links to videos that demonstrate the issue)
Additional Information
I have tried to put the D6 joints on different bodies. Also tried changing body 0 and body 1, but to no avail. The documentation is not clear about creating these joints. I tried to make the joints similar to the ones in the cartesian robot example, but still it doesnt work.
(Describe any troubleshooting steps you’ve already taken)
Related Issues
(If you’re aware of any related issues or forum posts, please link them here)
Additional Context
I am attaching the complete example here for you to test on your end. Kindly let me know the correct way of adding the gripper in 5.0 or point me in the right direction. Thank you!
rmpflow_example.zip (26.4 MB)