Franka Panda's gripper do not fit tightly to its visual geometry

[2050313360]

Isaac Sim Version

5.0.0

Operating System

Ubuntu 22.04

GPU Information

• Model: NVIDIA GeForce RTX 5090
• Driver Version: 570.86.10
• nvcc Version: Build cuda_12.8.r12.8/compiler.35404655_0

Topic Description

Detailed Description

I am encountering an issue where the collision colliders (visible as green lines) on the Franka Emika Panda robot’s gripper do not fit tightly to the gripper’s visual geometry. This misalignment may lead to problems such as the gripper penetrating objects or incorrect collision responses.

colliders not tightly fit the gripper:

gripper penetrating objects: (the greyish part of the gripper is invisible as it penetrates the cube)

Steps to Reproduce

1. Launch Isaac Sim 5.0.0 and create a new empty workspace.

2. Load Franka: Create → Robots → Franka Emika Panda Arm.

3. Open colliders through:

   

4. Load cubes: Create → Mesh → Cube, and Add → Physics → Colliders Preset, and then Add → Physics → add RigidBody:

   

5. Let franka grip the cube through code (unrelated to franka’s colliders).

Additional Information

What I’ve Tried

I’ve tried to follow the steps: Go to Property panel → Collider → Approximation →Switch to Convex Hull, which is suggested by: How to edit collsion properties in ISAAC SIM? However nothing is changed given any options (Convex Hull, SDF Mesh, Convex Decomposition, etc.)

Related Issues

How to edit collsion properties in ISAAC SIM?

[michalin]

Hi @2050313360, thank you for posting your question. To clarify, where exactly does the collider not match the robot hand? Do you mean at this location?

If you want the collider to match the visual collider more closely you can change the collider approximation type.

1. Go to the panda_leftfinger
2. Uncheck the Instanceable option
3. Physics>Collider>Approximation use Convex Decomposition

[michalin]

Realized that this is a duplicate issue from: [Question] Franka Panda’s gripper do not fit tightly to its visual geometry · Issue #3571 · isaac-sim/IsaacLab · GitHub. Please avoid making duplicate issues in the future. I will close this issue and can move the discussion to Isaac Lab Issues.