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

**URL:** <https://forums.developer.nvidia.com/t/franka-pandas-gripper-do-not-fit-tightly-to-its-visual-geometry/345936>\
**Category:** Isaac Sim\
**Tags:** physx, isaac-sim-v5-0-0\
**Created:** [September 24, 2025, 1:00pm UTC](https://forums.developer.nvidia.com/t/franka-pandas-gripper-do-not-fit-tightly-to-its-visual-geometry/345936 "2025-09-24T13:00:52Z")\
**Posts on this page:** 4\
**Page:** 1

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**Author:** ![2050313360](https://developer.download.nvidia.com/images/forums/profile-default-devtalk-84.png) [@2050313360](https://forums.developer.nvidia.com/u/2050313360)\
**Post date:** [September 24, 2025, 1:00pm UTC](https://forums.developer.nvidia.com/t/franka-pandas-gripper-do-not-fit-tightly-to-its-visual-geometry/345936/1 "2025-09-24T13:00:52Z")

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### 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:

 ![截图 2025-09-24 20-36-48](https://global.discourse-cdn.com/nvidia/original/4X/a/c/9/ac9f0708cbe1b37c2ccc9ac6fc1b608d0d77ac65.jpeg)

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

 ![image](https://global.discourse-cdn.com/nvidia/original/4X/7/4/7/747e5f40228430533a90a25fd7b4120d5c697421.jpeg)

### 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?](https://forums.developer.nvidia.com/t/how-to-edit-collsion-properties-in-isaac-sim/282806) However nothing is changed given any options (Convex Hull, SDF Mesh, Convex Decomposition, etc.)

### Related Issues

[How to edit collsion properties in ISAAC SIM?](https://forums.developer.nvidia.com/t/how-to-edit-collsion-properties-in-isaac-sim/282806)

###

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<div class="post-metadata">

**Author:** ![michalin](https://sea2.discourse-cdn.com/nvidia/user_avatar/forums.developer.nvidia.com/michalin/32/382649_2.png) [@michalin](https://forums.developer.nvidia.com/u/michalin)\
**Post date:** [October 3, 2025, 1:31am UTC](https://forums.developer.nvidia.com/t/franka-pandas-gripper-do-not-fit-tightly-to-its-visual-geometry/345936/3 "2025-10-03T01:31:09Z")

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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?

 ![ac9f0708cbe1b37c2ccc9ac6fc1b608d0d77ac65_2_1380x780](https://global.discourse-cdn.com/nvidia/original/4X/f/4/f/f4f9269d62e720da6908b6cf4595483b45d0d31d.jpeg)

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

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<div class="post-metadata">

**Author:** ![michalin](https://sea2.discourse-cdn.com/nvidia/user_avatar/forums.developer.nvidia.com/michalin/32/382649_2.png) [@michalin](https://forums.developer.nvidia.com/u/michalin)\
**Post date:** [October 3, 2025, 9:59pm UTC](https://forums.developer.nvidia.com/t/franka-pandas-gripper-do-not-fit-tightly-to-its-visual-geometry/345936/4 "2025-10-03T21:59:59Z")

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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](https://github.com/isaac-sim/IsaacLab/issues/3571). Please avoid making duplicate issues in the future. I will close this issue and can move the discussion to Isaac Lab Issues.

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<div class="post-metadata">

**Author:** ![michalin](https://sea2.discourse-cdn.com/nvidia/user_avatar/forums.developer.nvidia.com/michalin/32/382649_2.png) [@michalin](https://forums.developer.nvidia.com/u/michalin)\
**Post date:** [October 3, 2025, 10:00pm UTC](https://forums.developer.nvidia.com/t/franka-pandas-gripper-do-not-fit-tightly-to-its-visual-geometry/345936/5 "2025-10-03T22:00:04Z")

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