Isaac Sim Version
5.1.0
■ 5.0.0
4.5.0
4.2.0
4.1.0
4.0.0
4.5.0
2023.1.1
2023.1.0-hotfix.1
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Operating System
Ubuntu 24.04
Ubuntu 22.04
Ubuntu 20.04
Windows 11
■ Windows 10
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Problem Description
I’m currently trying to use a D6 joint drive to drive a joint, so I’d like to use the Gain Tuner to set the Stiffness and Damping. However, I’m having trouble correctly setting the D6 joint in the Gain Tuner.
My Step :
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Create each Joint (Revolute Joint & D6joint)
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Apply the Robot schema, and I set IsaacRobotAPI to the Prim of the Articulation root.
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Setup the IsaacRobotAPI
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Open the Gain Tuner (Tools → Robotics → Assets editors→ Gain Tuner).
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As soon as I open the Gain Tuner, Console會顯示以下Error messages:
2025-10-18 13:30:45 [Error] [omni.ui.python] TypeError: loop of ufunc does not support argument 0 of type NoneType which has no callable deg2rad method
2025-10-18 13:30:45 [Error] [omni.ui.python]
2025-10-18 13:30:45 [Error] [omni.ui.python] At:
2025-10-18 13:30:45 [Error] [omni.ui.python] c:/isaacsim/exts/isaacsim.core.experimental.prims/isaacsim/core/experimental/prims/impl/articulation.py(755): get_dof_limits
2025-10-18 13:30:45 [Error] [omni.ui.python] c:/isaacsim/exts/isaacsim.robot_setup.gain_tuner/isaacsim/robot_setup/gain_tuner/ui/test_table_widget.py(482): init
2025-10-18 13:30:45 [Error] [omni.ui.python] c:/isaacsim/exts/isaacsim.robot_setup.gain_tuner/isaacsim/robot_setup/gain_tuner/ui/test_table_widget.py(553): init
2025-10-18 13:30:45 [Error] [omni.ui.python] c:/isaacsim/exts/isaacsim.robot_setup.gain_tuner/isaacsim/robot_setup/gain_tuner/ui/ui_builder.py(529): _build_test_gains_frame
2025-10-18 13:30:45 [Error] [omni.ui.python]
2025-10-18 13:30:45 [Warning] [isaacsim.core.experimental.prims.impl.articulation] Number of DOFs mismatch: USD (7) != Physics tensor (15)
2025-10-18 13:30:45 [Warning] [isaacsim.core.experimental.prims.impl.articulation] DOF names mismatch: USD ([‘Torso_Hip_Fix_Joint’, ‘Right_Hip_Joint’, ‘Left_Hip_Joint’, ‘Right_Knee’, ‘Left_Knee’, ‘Right_Ankle’, ‘Left_Ankle’]) != Physics tensor ([‘Torso_Hip_Fix_Joint:0’, ‘Torso_Hip_Fix_Joint:1’, ‘Torso_Hip_Fix_Joint:2’, ‘Right_Hip_Joint:0’, ‘Right_Hip_Joint:1’, ‘Right_Hip_Joint:2’, ‘Left_Hip_Joint:0’, ‘Left_Hip_Joint:1’, ‘Left_Hip_Joint:2’, ‘Right_Knee’, ‘Left_Knee’, ‘Right_Ankle:0’, ‘Right_Ankle:1’, ‘Left_Ankle:0’, ‘Left_Ankle:1’])
2025-10-18 13:30:45 [Warning] [isaacsim.core.experimental.prims.impl.articulation] DOF indices mismatch: USD ({‘Torso_Hip_Fix_Joint’: 0, ‘Right_Hip_Joint’: 1, ‘Left_Hip_Joint’: 2, ‘Right_Knee’: 3, ‘Left_Knee’: 4, ‘Right_Ankle’: 5, ‘Left_Ankle’: 6}) != Physics tensor ({‘Left_Ankle:0’: 13, ‘Left_Ankle:1’: 14, ‘Left_Hip_Joint:0’: 6, ‘Left_Hip_Joint:1’: 7, ‘Left_Hip_Joint:2’: 8, ‘Left_Knee’: 10, ‘Right_Ankle:0’: 11, ‘Right_Ankle:1’: 12, ‘Right_Hip_Joint:0’: 3, ‘Right_Hip_Joint:1’: 4, ‘Right_Hip_Joint:2’: 5, ‘Right_Knee’: 9, ‘Torso_Hip_Fix_Joint:0’: 0, ‘Torso_Hip_Fix_Joint:1’: 1, ‘Torso_Hip_Fix_Joint:2’: 2})
2025-10-18 13:30:45 [Warning] [isaacsim.core.experimental.prims.impl.articulation] DOF paths mismatch: USD ([[‘/DigitalTwin/Joints/Torso_Hip_Fix_Joint’, ‘/DigitalTwin/Joints/Right_Hip_Joint’, ‘/DigitalTwin/Joints/Left_Hip_Joint’, ‘/DigitalTwin/Joints/Right_Knee’, ‘/DigitalTwin/Joints/Left_Knee’, ‘/DigitalTwin/Joints/Right_Ankle’, ‘/DigitalTwin/Joints/Left_Ankle’]]) != Physics tensor ([[‘/DigitalTwin/Joints/Torso_Hip_Fix_Joint’, ‘/DigitalTwin/Joints/Torso_Hip_Fix_Joint’, ‘/DigitalTwin/Joints/Torso_Hip_Fix_Joint’, ‘/DigitalTwin/Joints/Right_Hip_Joint’, ‘/DigitalTwin/Joints/Right_Hip_Joint’, ‘/DigitalTwin/Joints/Right_Hip_Joint’, ‘/DigitalTwin/Joints/Left_Hip_Joint’, ‘/DigitalTwin/Joints/Left_Hip_Joint’, ‘/DigitalTwin/Joints/Left_Hip_Joint’, ‘/DigitalTwin/Joints/Right_Knee’, ‘/DigitalTwin/Joints/Left_Knee’, ‘/DigitalTwin/Joints/Right_Ankle’, ‘/DigitalTwin/Joints/Right_Ankle’, ‘/DigitalTwin/Joints/Left_Ankle’, ‘/DigitalTwin/Joints/Left_Ankle’]])
2025-10-18 13:30:45 [Warning] [isaacsim.core.experimental.prims.impl.articulation] DOF types mismatch: USD ([<DofType.Invalid: 255>, <DofType.Invalid: 255>, <DofType.Invalid: 255>, <DofType.Rotation: 0>, <DofType.Rotation: 0>, <DofType.Invalid: 255>, <DofType.Invalid: 255>]) != Physics tensor ([<DofType.Rotation: 0>, <DofType.Rotation: 0>, <DofType.Rotation: 0>, <DofType.Rotation: 0>, <DofType.Rotation: 0>, <DofType.Rotation: 0>, <DofType.Rotation: 0>, <DofType.Rotation: 0>, <DofType.Rotation: 0>, <DofType.Rotation: 0>, <DofType.Rotation: 0>, <DofType.Rotation: 0>, <DofType.Rotation: 0>, <DofType.Rotation: 0>, <DofType.Rotation: 0>])