Surface Gripper does not work

[suihe160]

Environment

Isaac Sim 5.0.0

Ubuntu 24.04

Topic Description

Detailed Description

Surface Gripper does not work.

I created a surface gripper with following steps.

1. Load gripper alfresa_single_cup_UR.

2. Create a xfrom suction_cup at gripper tcp.

3. Create a D6 joint under suction_cup. Set body 0 as alfresa_single_cup_UR. Other settings as follow.

4. Create a Surface Gripper node. Set Attachment point as the D6 joint created in step 3.

Error Messages

[suihe160]

Finally solved the problem without knowing why.
I created a small cyllinder on tip of the gripper, then set it as the body 0 of D6 joint, then it works.