Robotiq_2F_140_physics_edit: Why is the fingertip physics material applied to the knuckles instead of the fingers?

Omniverse Isaac Sim
1

I’m adding a Robotiq 2F 140 gripper to my UR5 and trying to grip a DynamicCuboid. Actually I got it to work using the Robotiq_2F_140_physics_edit Isaac Asset, but I noticed that instead of having the fingertip physics material applied to the finger tips as specified in the tutorial, it is applied to the knuckles on the asset. Is this an oversight? Gripping objects seems to work, but I carefully need to tune the joint_closed_positions and action_deltas given as parameters for ParallelGripper. Assigning the material to the finger tips did not seem to change the behavior of the simulator, though I’ve only tested on DynamicCuboid.

Isaac Sim Version

4.2.0
4.1.0
4.0.0
2023.1.1
2023.1.0-hotfix.1
Other (please specify):

Isaac Lab Version (if applicable)

1.2
1.1
1.0
Other (please specify):

Operating System

Ubuntu 22.04
Ubuntu 20.04
Windows 11
Windows 10
Other (please specify):

GPU Information

  • Model: NVIDIA RTX 4090 Mobile
  • Driver Version: 556.12
2

To answer my own question, the fingertip material is applied to the Fingertip_01 Xforms that are members of left_inner_finger and right_inner_finger…

3

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