Running into issues with custom URDFs

Describe the bug I have created a URDF file in which I use the UR10 with the Robotiq gripper for pick and place. The UR10 alone works fine but once I add the robotiq gripper I receive these .NET failures.

To Reproduce

https://user-images.githubusercontent.com/8294326/117325761-ed99d880-ae88-11eb-8bb8-05d8388a71c6.mp4

Console logs / stack traces

UnassignedReferenceException: The variable ur10 of UR10TrajectoryPlanner has not been assigned.
You probably need to assign the ur10 variable of the UR10TrajectoryPlanner script in the inspector.
UR10TrajectoryPlanner.Awake () (at Assets/Scripts/UR10TrajectoryPlanner.cs:212)

Invalid worldAABB. Object is too large or too far away from the origin.

Invalid AABB a

Assertion failed on expression: 'IsFinite(d)'
UnityEngine.GUIUtility:ProcessEvent (int,intptr,bool&)

Assertion failed on expression: 'IsFinite(outDistanceForSort)'
UnityEngine.GUIUtility:ProcessEvent (int,intptr,bool&)

Assertion failed on expression: 'IsFinite(outDistanceAlongView)'
UnityEngine.GUIUtility:ProcessEvent (int,intptr,bool&)

Invalid AABB aabb
UnityEngine.GUIUtility:ProcessEvent (int,intptr,bool&)

Invalid AABB aabb
UnityEngine.GUIUtility:ProcessEvent (int,intptr,bool&)

Invalid AABB aabb

No data available on network stream after 10 attempts.
UnityEngine.Debug:LogError (object)
ROSConnection/<SendServiceMessage>d__21`1<RosMessageTypes.RosTcpEndpoint.UnityHandshakeResponse>:MoveNext () (at Library/PackageCache/com.unity.robotics.ros-tcp-connector@ab45157ad3/Runtime/TcpConnector/ROSConnection.cs:129)
UnityEngine.UnitySynchronizationContext:ExecuteTasks ()

Invalid AABB a
UnityEngine.GUIUtility:ProcessEvent (int,intptr,bool&)

Invalid AABB a
UnityEngine.GUIUtility:ProcessEvent (int,intptr,bool&)

Expected behavior Move UR10 with Gripper with keyboard freely without being dismounted.

Screenshots If applicable, add screenshots or videos to help explain your problem.

Environment (please complete the following information, where applicable):

• Unity Version: [e.g. Unity 2020.2.0f1]
• Unity machine OS + version: [e.g. Windows 10]
• ROS machine OS + version: [e.g. Ubuntu 18.04, ROS Noetic]
• ROS–Unity communication: [e.g. Docker]
• Branch or version: [e.g. v0.2.0]

Additional context Add any other context about the problem here.

[at669]

I’d expect the gripping angle to modify the movement significantly, so that seems a bit strange! Aside from that value, I’d suggest verifying the stiffness, damping, and force limits on the gripper’s articulation bodies as well, and changing their target values in the inspector to see if they move as expected. Feel free to close this ticket and open a new one if the original issue appears to be solved and open a new one if you can’t seem to get the gripper working as expected though!

[NathanielRose]

It has been resolved, Thanks again for the support here!