Isaac Sim Version 4.5.0 Operating System Ubuntu 22.04 GPU Information Model: 3090 TI Driver Version: 570 Topic Description I am trying to simulate Robotiq 2F-140 in Isaac Sim. The “official” USD asset from Isaac Sim assets simply doesn’t work, and the one provided by the community ( in this foru…

When a multi-degree-of-freedom (DoF) asset, like this gripper, interacts with the environment without proper constraints or attachments, the physics engine may generate unrealistic forces. This can cause the asset to “bounce” or even “explode” in simulation, as the engine attempts to resolve many jo…

zip with videos showing real world behavior of the gripper robotiq-real-world-ycb.zip (83.0 MB)

EDIT: tried it out in 5.0 version, still no improvement in the behavior

Thank you for your detailed feedback and for providing the videos and sample code to illustrate the issue with the Robotiq 2F-140 gripper asset. We will get back to you as soon as we have more information to share.

[image] martin.matak1: The “official” USD asset from Isaac Sim assets simply doesn’t work How did you access the official Robotiq 2F-140 asset? Could you describe in more detail what “doesn’t work” means when you use the official asset? [image] martin.matak1: EDIT: tried it out in 5.0 v…

Attached is a 20 sec video showing: accessing the official asset (through Isaac Sim 5.0.0) the behavior of “doesn’t work”

You can try unchecking the “Articulation Enabled” checkbox.

Unchecking the “Articulation Enabled” fixes the exploding asset issue, but now (as it was with the asset in Isaac Sim 4.5.0), the asset is just unrealistic. As such, it is useless since it doesn’t mimic the real world. In the screenshot is the state of the asset when I insert it in the scene and …

That makes sense. Do you have an example that shows this works?

Asset improvement request: robotiq 2f-140

Omniverse Isaac Sim

martin.matak1 August 18, 2025, 5:09pm 7

Attached is a 20 sec video showing:

accessing the official asset (through Isaac Sim 5.0.0)
the behavior of “doesn’t work”

Robotiq 2F140 gripper still problematic

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Asset improvement request: robotiq 2f-140

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