How can I add UR10 and Robotiq gripper 2F-140 together

Omniverse Isaac Sim
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1

Hello everyone,

I’m encountering an issue attaching the 2F-140 gripper to a UR10 robot, and I’m also seeking guidance on controlling the gripper using ROS2 humble. Does anyone have a specific tutorial or guidance on how to accomplish this?

Thank you.

2

Have you tried the tool:

Issac Utils > Workflow > Robot Assembler

?

3

No, I haven’t. I will try it and let you know. Thanks for the suggestion

4

Hi,
I still have a problem. This is the step that I’m doing. I imported the UR10 and robotiq from the local host server into my desktop and I try to use Robot Assembler. This error belows pop up
Cannot create prim at path </World/Robotiq_2F_140_physics_edit/_F_Body/AssemblerFixedJoint>; authoring to an instance proxy is not allowed.’
I might think that robotiq gripper is somehow protected, but I’m not sure. Do you have any suggestion or steps I can follow ?

Thanks

6

I have same problem too. I tried robot assembler to attach Robotiq_2F_140 to UR10. But I failed. For a while, anyone has not mentioned.

@aitameuradlan
If you solved it, please share your solution.

7

Hi _Ryota,

I’ve been working with Isaac Sim 2023.1.1, and despite trying the Robot Assembler tool, it didn’t work for my setup. I haven’t tested it on Isaac Sim 4 yet, but I found an alternative solution from this article that explains perfectly how to assemble a gripper on a robot manipulator without using the Robot Assembler:

https://medium.com/@joolab/how-to-assemble-a-gripper-on-a-robot-manipulator-in-isaac-sim-f7ba8e6f18fc

I tried it, and it’s working. The same author has another tutorial that explains how to set up a closed-loop system for the Robotiq 2F-85 gripper:

https://medium.com/@joolab/how-to-set-up-closed-loop-gripper-with-robotiq-2f-85-f7aac12936b2

I hope this helps. My next question is about how to connect the Robotiq 2F-85 gripper in Isaac Sim to ROS 2. Let me know if you have any thoughts on that.

8

Hi aitameuradlan,

Thank you for your reply and offering useful information. First of all I am to try the web sites.
As for applying the Robotiq 2F-85 gripper in Isaac Sim to ROS 2, I have not yet tried connecting Isaac Sim to ROS2. I’m sorry. But my next action is that. If I find any solution, let me share you it.