[NVDIA ISAAC] How To control gripper use GripperController?

[m986883511]

currently, I can use Articulation Position Controller to control robot joint.

In nvidia isaac help doc, they say how to use GripperController:
https://docs.omniverse.nvidia.com/isaacsim/latest/advanced_tutorials/tutorial_advanced_omnigraph_shortcuts.html?highlight=gripper#gripper-controller

When use franka panda robot. I write panda_finger_joint1,panda_finger_joint2 in Gripper Joint Names. it is easy.

But, I dont known how to set in xarm robot. some thing wrong?

Ps:
I use this command to generate urdf.

cd ~/dev_ws/src/xarm_ros2/
ros2 run xacro xacro xarm_description/urdf/xarm_device.urdf.xacro add_gripper:=true dof:=6 -o xarm6.urdf

then replace all package:// to /home/ubuntu/dev_ws/src/xarm_ros2/ in xarm6.urdf.
then use Isaac Utils -> Workflows -> URDF Impoter to generate xarm6.usd