2022-10-20 07:46:47 [56,019ms] [Error] [omni.isaac.dynamic_control.plugin] Failed to register rigid body at ‘/World/defaultGroundPlane/GroundPlane/CollisionPlane’ 2022-10-20 07:46:47 [56,019ms] [Error] [omni.isaac.dynamic_control.plugin] DcGetRigidBodyPath: Invalid or expired body handle 2022-10-2…

another bug. when suction gripper is trying to grasp part of the robot itself I will see this error: 2022-10-21 06:07:13 [38,135ms] [Error] [omni.physx.plugin] PhysX error: PxD6JointCreate: actors must be different, FILE /buildAgent/work/99bede84aa0a52c2/source/physxextensions/src/ExtD6Joint.cpp, …

From the error it looks like your offset point is contained inside the collision mesh for the gripper, You need to place it out so it can find other elements when you call close. as an aside, it should not give you an error if it tries to close with the ground plane or any other static mesh. I’ll c…

PhysX error: PxD6JointCreate: actors must be different, FILE /buildAgent/work/99bede84aa0a52c2/source/physxextensions/src/ExtD6Joint.cpp, LINE 45 For this error. what’s happinging is the gripper offset collides with the robot itself. The gripper is trying to grasp the robot. the error does not ha…

Here is a screen shot for the crash to happen: [image]

ok my temporatory solution is to do raycasting from the tip of the gripper (0.5 cm forward of the gripper tip) to the gripper forward direction for 3.5 cm. If the raycasting returns trying to grasp a robot, then I will not execute close gripper command. But I feel this is something that the surfac…

Hi - Apologies for the delay in the response. Are you still seeing this issue with the latest Isaac Sim 2022.2.1 release?

I have not tested on 2022.2.1. But the bug still exists in 2022.2.0 I will try again after my paper submission: Here is the workaround I used: Copyright (c) 2021, NVIDIA CORPORATION. All rights reserved. NVIDIA CORPORATION and its licensors retain all intellectual property and proprietary right…

Thanks for the feedback! I’ll file an internal bug to track and fix this behavior

Surface gripper bug

Omniverse Isaac Sim

nikepupu9 November 1, 2022, 11:44pm 8

Here is a screen shot for the crash to happen:

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Surface gripper bug

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