SurfaceGripper | DcDestroyD6Joint: Invalid or expired D6 Joint handle

[lily.chen]

Hello, I’m having trouble with my Surface Gripper.
It’s not opening successfully to open gripper (catch objects).
I encounter the error message
‘DcGetD6JointConstraintIsBroken: Invalid or expired D6 Joint handle’
‘DcDestroyD6Joint: Invalid or expired D6 Joint handle.’

Can anyone help me figure out how to resolve this issue? Thanks!!

[Simplychenable]

@lily.chen could this thread provide some insight given the similarities of the error messages?

SurfaceGripper fails to create joint with articulated item: "PxD6JointCreate: actors must be different"

Hah! I was just getting to this issue on my end. Turns out jointed items are fine, but there’s one catch: If the surface gripper is added to an articulation (as in the Physx Articulation API) - which robots are - the picked object cannot be an articulation - or needs to have its articulation API disabled - as you can’t join two articulations together. I’ll look into incorporating that in the code, but on the meanwhile just be sure to disable the articulation root of the picked object. I’m gla…

[lily.chen]

Yes. The Same Error Message,
But I didnt add any Joint into my object (The Post),
my gripper still can’t open successfully (catch objects).

@Simplychenable Here is the video shows my current main problem was, thanks for your help!