Surface Gripper for Custom Robot wont work

[GeorgeBurns]

Systems Information
Windows 11
Processor: Intel(R) Core™ Ultra 7 165H (1.40 GHz)Installed
RAM: 32.0 GB (31.5 GB usable)
Graphics NVIDIA GeForce RTX 2050

IsaacSim Surface Gripper won’t attach to anything, including dynamic body objects like the cube shown in the image. I need to develop a robot that has three surface grippers on each arm. I have tried setting up a surface gripper on the first using the tutorial and comparing it to the example. I have added a "cone" to the end of the arm to serve as the original body, as in the example. I have added articulationjointAPI to the D6 joint and set its parameters so that the region the object will grasp appears valid.

Steps to Reproduce

1. Import any robot or object, attach a basic Cone

2. Create D6 Joint with the following properties

3. Create a Surface Gripper with the following properties

Screenshots or Videos

Additional Information

What I’ve Tried

I have tried setting values to those of the Surface Gripper example. I have tried editing values for both the surface gripper, etc., etc. Also tried following the steps in the linked issue.

Related Issues

“Surface_gripper in 5.1 not working using GUI”
https://forums.developer.nvidia.com/t/surface-gripper-in-5-1-not-working-using-gui/355568

[PeterL-NV]

Hi, here're some points for you to check:

• D6 joints must have excludeFromArticulation=True and NO break forces
• All 3 D6 joints must share the same parent rigid body (your cone)
• Surface gripper interface must have set_write_to_usd(True) enabled
• Target objects need RigidBodyAPI and CollisionAPI
• Objects must be within maxGripDistance when closing
• Use gripper_interface.close() to command attachment