Cannot use ShadowHand with ROS2

Omniverse Isaac Sim
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1

Cannot use ShadowHand with ROS2 when I hit the play button all the fingers fall, and the hand wont move when I send via ros2 topic, I tried with the allegro hand and it works. I am ussing Isaac SIm 5.0

Screenshot from 2025-11-26 21-22-05
Screenshot from 2025-11-26 21-22-051920×1165 327 KB

2

@jjjau03 can you try upgrading to 5.1.0 and see if the issue persists?

3

Tried with 5.1.0 but still not working, I’m trying to control the hand joint positions using ROS2 commands. However, despite sending the joint control commands, the hand keeps falling.

Here’s the command I’m using to publish the joint state:

ros2 topic pub /joint_command sensor_msgs/msg/JointState "{header: {stamp: {sec: 2055, nanosec: 100107181}, frame_id: ''}, 
   name: ['robot0_WRJ1', 'robot0_WRJ0', 'robot0_FFJ3', 'robot0_MFJ3', 'robot0_RFJ3', 'robot0_LFJ4', 
          'robot0_THJ4', 'robot0_FFJ2', 'robot0_MFJ2', 'robot0_RFJ2', 'robot0_LFJ3', 'robot0_THJ3', 
          'robot0_FFJ1', 'robot0_MFJ1', 'robot0_RFJ1', 'robot0_LFJ2', 'robot0_THJ2', 'robot0_FFJ0', 
          'robot0_MFJ0', 'robot0_RFJ0', 'robot0_LFJ1', 'robot0_THJ1', 'robot0_LFJ0', 'robot0_THJ0'], 
   position: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 
              0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], 
   velocity: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 
              0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 
              0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], 
   effort: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 
            0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 
            0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}"

After publishing the above command the hand joints don’t stay in place and the hand keeps falling in the simulation.

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image1760×905 208 KB

5

@jjjau03 could you please share your files for us to replicate the issue?

6

I’m using the default shadow_hand_instanceable.usd model from the Isaac Sim Assets

7

Have you checked out the tutorial for ROS2 joint control ROS2 Joint Control: Extension Python Scripting — Isaac Sim Documentation

8

Hello!

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