Import Robotiq_2f_85 URDF in Isaac Sim

Since the “mimic” tag has not been supported in Isaac Sim, after importing the Robotiq_2f_85 gripper URDF description into the Isaac Sim, the gripper cannot be controlled correctly as shown in the figure below.

Has anyone successfully imported and realized the control of this gripper?

Looking forward to your help.

Hi @im.renpei

I think your problem is that gripper has cyclical joints…
See Add gripper to UR5e - #2 by Hammad_M, particularly video 2

Hi @toni.sm , thanks for your reply. The problem is similar to what happened in video 2. I am new to Isaac Sim, could you please provide some suggestions to solve this problem?

Also looking forward to your @Hammad_M help.