# Surface Gripper does not work

**URL:** <https://forums.developer.nvidia.com/t/surface-gripper-does-not-work/351768>\
**Category:** Isaac Sim\
**Tags:** isaac-sim-v5-0-0\
**Created:** [November 18, 2025, 3:59am UTC](https://forums.developer.nvidia.com/t/surface-gripper-does-not-work/351768 "2025-11-18T03:59:39Z")\
**Posts on this page:** 3\
**Page:** 1

<div class="post-metadata">

**Author:** ![suihe160](https://developer.download.nvidia.com/images/forums/profile-default-devtalk-84.png) [@suihe160](https://forums.developer.nvidia.com/u/suihe160)\
**Post date:** [November 18, 2025, 3:59am UTC](https://forums.developer.nvidia.com/t/surface-gripper-does-not-work/351768/1 "2025-11-18T03:59:39Z")

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## 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.

 ![Screenshot from 2025-11-18 12-27-34](https://global.discourse-cdn.com/nvidia/original/4X/6/4/e/64efa672313eb09390fdfd1bd45841ae21f1852d.jpeg)

2. Create a xfrom suction\_cup at gripper tcp.

 ![Screenshot from 2025-11-18 12-27-51](https://global.discourse-cdn.com/nvidia/original/4X/f/6/0/f605926c39bf23de93e12f8d67cc6fdd303726a3.jpeg)

1. Create a D6 joint under suction\_cup. Set body 0 as alfresa\_single\_cup\_UR. Other settings as follow.

 ![Screenshot from 2025-11-18 12-29-54](https://global.discourse-cdn.com/nvidia/original/4X/0/6/b/06b7f6ef10550a348e8865e813734ad89d31e335.jpeg)

 ![Screenshot from 2025-11-18 12-30-10](https://global.discourse-cdn.com/nvidia/original/4X/9/b/c/9bcb79f4d87a92a398ee336ab7b2bd229d6d0ba3.jpeg)

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

 ![Screenshot from 2025-11-18 12-31-09](https://global.discourse-cdn.com/nvidia/original/4X/7/e/a/7ea3455988472e472a06d34f4fb6fa1525811614.jpeg)

### Error Messages

 ![Screenshot from 2025-11-18 12-26-21](https://global.discourse-cdn.com/nvidia/original/4X/c/5/b/c5bf522ba61beb49b8d869a45d59a431c97123d3.png)

##

---

<div class="post-metadata">

**Author:** ![suihe160](https://developer.download.nvidia.com/images/forums/profile-default-devtalk-84.png) [@suihe160](https://forums.developer.nvidia.com/u/suihe160)\
**Post date:** [November 19, 2025, 8:35am UTC](https://forums.developer.nvidia.com/t/surface-gripper-does-not-work/351768/2 "2025-11-19T08:35:22Z")

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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.

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<div class="post-metadata">

**Author:** ![system](https://sea2.discourse-cdn.com/nvidia/user_avatar/forums.developer.nvidia.com/system/32/68080_2.png) [@system](https://forums.developer.nvidia.com/u/system)\
**Post date:** [December 3, 2025, 8:35am UTC](https://forums.developer.nvidia.com/t/surface-gripper-does-not-work/351768/3 "2025-12-03T08:35:58Z")

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