The gripper cannot lift the object to the desired height

Omniverse Isaac Sim
1

In my Isaac Sim project, there are two robots equipped with grippers. I use GetPrimAtPath() to access the motion axes and configure the opening and closing motions of the grippers using GetAttribute("drive:linear:physics:targetPosition").Set() to grab objects. I have set the static and dynamic friction values of both gripper fingers and the object being grabbed to 1.

I noticed that when lifting the object directly using inverse kinematics, the object seems to get stuck at a certain height and cannot move upward further. However, using single-axis motion, the object can be lifted to a higher position. And when I use the Surface Gripper Controller, everything works fine, and I can grasp objects and move them to any position without issues. I wonder if anyone has encountered a similar issue and can provide assistance.

Simulation Video

Isaac Sim Version

4.2.0

Operating System

Ubuntu 22.04

GPU Information

  • Model: RTX 4080
  • Driver Version: 550.120
2

I set the object’s weight to 0.1 kg using a Python script instead of relying on the system-calculated weight, allowing the gripper to successfully grasp the object.

3

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