Robot Assembler does not work for UR5e and Robotiq 2F 85

[tobias.winter]

Hello everyone,

I am currently trying to attach a Robotiq 2F 85 gripper to a UR5e. I followed this tutorial: Assembling Robots And Rigid Bodies and used the USD files provided in Create → Isaac.

First, I got the error “Cannot move/rename ancestral prim /Robotiq_2F_85”. To solve this, I saved the file flattened, reopened it, and tried again following the tutorial.

This way, it seemed to work, but if I move the robot slightly or close the gripper, the gripper detaches and flies away.
In the console i the the warning " Invalid PhysX transform detected for…" for all UR5 links and Robotiq parts.

I am using Isaac Sim 4.0.
I really do not know how to fix this since I am pretty new to Isaac.

Thank you for any help!

[hariksee]

Hi I’m having same issue can we have some steps to resolve it as it has been a long time since this issue was raised

[kihyeonjoo]

Were you resolve it?
I have same problem…
but, I’m using Isaac Sim 4.2.0

[tobias.winter]

I have not found a solution yet

[kihyeonjoo]

I solved it!
You just Connect Omniverse server and find 2f-85 gripper at the NVIDIA folder.
you can download the whole files of the 2f-85 to your local computer.
Then you just try to assemble ur5e and 2f-85 using Robot assembler.

I applied “2022.1.1 version 2f-85” and “4.2.0 version UR5e”

Try it and reply!

[tobias.winter]

Nice!

Can you move the robot without the gripper flying off?