Specific Joint Not Moving in Isaac Lab While Working in Isaac Sim with the Same USD File

[Bigyun]

Isaac Sim Version

[√] 4.5.0

Operating System

[√] Windows 11

GPU Information

• Model: NVIDIA RTX 3090
• Driver Version: 560.94

Topic Description

Detailed Description

I am facing an issue where a finger type gripper composed of both prismatic and revolute joints works perfectly in Isaac Sim, but when I import the same USD file into Isaac Lab and set up actuators for reinforcement learning, both prismatic joints (finger_move1_joint1, finger_move2_joint1) remain fixed and do not move, while the revolute joints work as expected.

Steps to Reproduce

1. Set up a custom gripper in a USD file, composed of prismatic joints(blue link in the screenshot) (finger_move1_joint1, finger_move2_joint1) and revolute joints
2. Load the same USD file in both Isaac Sim and Isaac Lab.
3. In Isaac Sim, both prismatic joints and revolute joints move as expected.
4. In Isaac Lab, both prismatic joints (finger_move1_joint1 and finger_move2_joint1) remain fixed and do not move, but the revolute joints work as expected.

Error Messages

N/A (No error message, just the prismatic joints not moving in Isaac Lab)

Screenshots or Videos

• Isaac Sim
  
  

• Isaac Lab
  

Additional Information

What I’ve Tried

• I am working on Isaac-Lift-Cube-Franka task(manager-based) and modifying the gripper to perform the same reinforcement learning task.
• The prismatic joints are configured with limits and drive settings, and the revolute joints are functioning correctly in Isaac Lab.
• Actuator configuration for the prismatic joints appears correct, but the joints still do not move in Isaac Lab.

Related Issues

(If you’re aware of any related issues or forum posts, please link them here)

Additional Context

(Add any other context about the problem here)

[Simplychenable]

@Bigyun i am just another user, but which version of Isaac Lab are you using? i would also suggest opening up a ticket over at Github repo for Lab specific issues.

To ensure efficient support and collaboration, please submit your topic to its GitHub repo following the instructions provided on Isaac Lab’s Contributing Guidelines regarding discussions, submitting issues, feature requests, and contributing to the project.

[Bigyun]

@Simplychenable Thank you for your reply. I’m on version 2.0.1. Also, I’ll try to submit this topic to its Github according to your suggestion.

[phennings]

Thank you for your interest in Isaac Lab. To ensure efficient support and collaboration, please submit your topic to its GitHub repo following the instructions provided on Isaac Lab’s Contributing Guidelines regarding discussions, submitting issues, feature requests, and contributing to the project.

We appreciate your understanding and look forward to assisting you.