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

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.

Have you tried the tool:

Issac Utils > Workflow > Robot Assembler


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

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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 ?