Hello everyone, I have some questions regarding my experience with Isaac Sim.
When I use the official code to control the robotic arm, I encountered some errors. The error message is:
2025-11-03 06:34:52 [Warning] [omni.isaac.dynamic_control.plugin] Failed to find articulation at '/World/ur3e/ur3e/root_joint' 2025-11-03 06:34:52 [Error] [omni.isaac.dynamic_control.plugin] DcWakeUpArticulation: Invalid or expired articulation handle 2025-11-03 06:34:52 [Error] [omni.isaac.dynamic_control.plugin] DcFindArticulationDof: Invalid or expired articulation handle 2025-11-03 06:34:52 [Error] [omni.isaac.dynamic_control.plugin] DcSetDofPositionTarget: Invalid or expired dof handle
However, I have checked the joint names and joint paths, and everything seems correct. Yet, it consistently prompts that the joints cannot be found (while running).
I tried both the Script Editor and Standalone mode, and both reported the same error. I’m not sure where the issue lies.
Thank you for sharing the details and error logs. To help us further diagnose the issue, could you please provide a short video that demonstrates the exact steps you take to reproduce the error, as well as the issue itself? This will help our team understand the problem context and provide more targeted suggestions.
@VickNV
The process is very straightforward. First, I loaded the UR3E robotic arm using Assets, and then I attempted to control the robotic arm with code, but encountered an error.
I then used the “Physics Inspector” to check if the axes of the robotic arm were correct and found no issues with the arm itself. However, the error persisted when I used the code.
The omni.isaac.dynamic_control extension has been deprecated as of Isaac Sim 4.5.0.
The recommended way to control robot arms now is to use the Articulation class from isaacsim.core.prims. For accessing or controlling specific joints, you can use the dof_names property on the Articulation instance. .
