2026-01-21T03:16:33Z [10,760ms] [Error] [omni.kit.app._impl] [py stderr]: Traceback (most recent call last):

2026-01-21T03:16:33Z [10,760ms] [Error] [omni.kit.app._impl] [py stderr]: File "/home/bpdl/lecture-vision/final-manipulator/franka_6dof_integrated_grasping.py", line 104, in <module>

2026-01-21T03:16:33Z [10,760ms] [Error] [omni.kit.app._impl] [py stderr]: my_franka, gripper = setup_franka_robot(

2026-01-21T03:16:33Z [10,760ms] [Error] [omni.kit.app._impl] [py stderr]: ^^^^^^^^^^^^^^^^^^^

2026-01-21T03:16:33Z [10,760ms] [Error] [omni.kit.app._impl] [py stderr]: File "/home/bpdl/lecture-vision/final-manipulator/isaac_sim_environment.py", line 47, in setup_franka_robot

2026-01-21T03:16:33Z [10,760ms] [Error] [omni.kit.app._impl] [py stderr]: gripper = ParallelGripper(

2026-01-21T03:16:33Z [10,760ms] [Error] [omni.kit.app._impl] [py stderr]: ^^^^^^^^^^^^^^^^

2026-01-21T03:16:33Z [10,760ms] [Error] [omni.kit.app._impl] [py stderr]: File "/home/bpdl/isaacsim/exts/isaacsim.robot.manipulators/isaacsim/robot/manipulators/grippers/parallel_gripper.py", line 45, in __init__

2026-01-21T03:16:33Z [10,760ms] [Error] [omni.kit.app._impl] [py stderr]: Gripper.__init__(self, end_effector_prim_path=end_effector_prim_path)

2026-01-21T03:16:33Z [10,760ms] [Error] [omni.kit.app._impl] [py stderr]: File "/home/bpdl/isaacsim/exts/isaacsim.robot.manipulators/isaacsim/robot/manipulators/grippers/gripper.py", line 30, in __init__

2026-01-21T03:16:33Z [10,760ms] [Error] [omni.kit.app._impl] [py stderr]: SingleRigidPrim.__init__(self, prim_path=end_effector_prim_path, name="gripper")

2026-01-21T03:16:33Z [10,760ms] [Error] [omni.kit.app._impl] [py stderr]: File "/home/bpdl/isaacsim/exts/isaacsim.core.prims/isaacsim/core/prims/impl/single_rigid_prim.py", line 121, in __init__

2026-01-21T03:16:33Z [10,761ms] [Error] [omni.kit.app._impl] [py stderr]: self._rigid_prim_view = RigidPrim(

2026-01-21T03:16:33Z [10,761ms] [Error] [omni.kit.app._impl] [py stderr]: ^^^^^^^^^^

2026-01-21T03:16:33Z [10,761ms] [Error] [omni.kit.app._impl] [py stderr]: File "/home/bpdl/isaacsim/exts/isaacsim.core.prims/isaacsim/core/prims/impl/rigid_prim.py", line 166, in __init__

2026-01-21T03:16:33Z [10,761ms] [Error] [omni.kit.app._impl] [py stderr]: XFormPrim.__init__(

2026-01-21T03:16:33Z [10,761ms] [Error] [omni.kit.app._impl] [py stderr]: File "/home/bpdl/isaacsim/exts/isaacsim.core.prims/isaacsim/core/prims/impl/xform_prim.py", line 136, in __init__

2026-01-21T03:16:33Z [10,761ms] [Error] [omni.kit.app._impl] [py stderr]: Prim.__init__(self, prim_paths_expr, name)

2026-01-21T03:16:33Z [10,761ms] [Error] [omni.kit.app._impl] [py stderr]: File "/home/bpdl/isaacsim/exts/isaacsim.core.prims/isaacsim/core/prims/impl/prim.py", line 38, in __init__

2026-01-21T03:16:33Z [10,761ms] [Error] [omni.kit.app._impl] [py stderr]: raise Exception(

2026-01-21T03:16:33Z [10,761ms] [Error] [omni.kit.app._impl] [py stderr]: Exception: Prim path expression ['/World/Franka/panda_rightfinger'] is invalid, a prim matching the expression needs to created before wrapping it as view

------------------------------------------

franka_6dof_integrated_grasping.py을 실행하고자 하면 위 에러가 뜹니다. 원인을 잘 모르겠습니다.

사용 명령어는 아래와 같습니다.

conda activate lecture

cd ./isaacsim

./python.sh ~/lecture-vision/final-manipulator/franka_6dof_integrated_grasping.py

python ./franka_6dof_integrated_grasping.py