I’m trying to control a robot arm and parallel grippers in Omniverse Isaac Sim through the Robot Engine Bridge.
If I set up the kinematic JSON file with only the arm’s revolute joints, everything works perfectly; I can control the joints as expected with the sliders from the Python codelets.
However, if I append the kinematic JSON with prismatic joints, the Juypter notebook crashes once it tries to execute the JointControl codelet for arm control (The kernel appears to have died. It will restart automatically.).
The prismatic joint drive components were added using a script provided by AlesBorovicka.
Here is the USD and JSON file that I was working with:
cr3_final.usd (6.4 MB)
cr3_test.kinematic.json (2.0 KB)
Is this a bug or is there something wrong with the way the prismatic joints are set up?