Import Robotiq_2f_85 URDF in Isaac Sim

Autonomous Machines Robotics - Isaac Omniverse Isaac Sim
#1

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.

robotiq_2f_85_gripper_issue
robotiq_2f_85_gripper_issue722×454 88.9 KB

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

Looking forward to your help.

#2

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

#3

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.