Robotiq 2F-85 Gripper issues: No actuation and collision problems (Custom URDF)

ysps0594 · February 12, 2026, 1:06pm

Isaac Sim Version

[x] 4.5.0

Operating System

[x] Ubuntu 22.04

GPU Information

Model: NVIDIA GeForce RTX 4080 super
Driver Version: 580.126.09

Topic Description Robotiq 2F-85 Gripper issues: No actuation and collision problems (Custom URDF)

Detailed Description I am integrating a UR5 + Robotiq 2F-85 gripper in Isaac Sim 4.5 using a custom URDF. I am facing two major issues:

Grasping/Collision Failure: Even if I manually manipulate the joints in Isaac Sim, the gripper cannot grasp a cube. The fingers seem to have invisible collision geometry preventing the object from entering the gripper .

Steps to Reproduce

Import the provided URDF into Isaac Sim 4.5.
Launch ROS 2 Humble MoveIt launch file.
Attempt to execute a “close gripper” action.

Error Messages No specific error log, but the gripper joints are unresponsive.

Screenshots or Videos Here is the snippet of my URDF for the gripper. I suspect I am missing the <transmission> and <mimic> tags.


<?xml version='1.0' encoding='utf-8'?>
<robot name="ur5_eye_in_hand_description">

  <link name="base_link">
    <visual>
      <geometry>
        <mesh filename="/opt/ros/humble/share/ur_description/meshes/ur5/visual/base.dae" />
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="/opt/ros/humble/share/ur_description/meshes/ur5/collision/base.stl" />
      </geometry>
    </collision>
    <inertial>
      <mass value="4.0" />
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0" />
      <inertia ixx="0.00443333156" ixy="0.0" ixz="0.0" iyy="0.00443333156" iyz="0.0" izz="0.0072" />
    </inertial>
  </link>
  <joint name="shoulder_pan_joint" type="revolute">
    <parent link="base_link" />
    <child link="shoulder_link" />
    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.089159" />
    <axis xyz="0 0 1" />
    <limit effort="150.0" lower="-6.2831853" upper="6.2831853" velocity="3.15" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="shoulder_link">
    <visual>
      <geometry>
        <mesh filename="/opt/ros/humble/share/ur_description/meshes/ur5/visual/shoulder.dae" />
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="/opt/ros/humble/share/ur_description/meshes/ur5/collision/shoulder.stl" />
      </geometry>
    </collision>
    <inertial>
      <mass value="3.7" />
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0" />
      <inertia ixx="0.010267495893" ixy="0.0" ixz="0.0" iyy="0.010267495893" iyz="0.0" izz="0.00666" />
    </inertial>
  </link>
  <joint name="shoulder_lift_joint" type="revolute">
    <parent link="shoulder_link" />
    <child link="upper_arm_link" />
    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.13585 0.0" />
    <axis xyz="0 1 0" />
    <limit effort="150.0" lower="-6.2831853" upper="6.2831853" velocity="3.15" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="upper_arm_link">
    <visual>
      <geometry>
        <mesh filename="/opt/ros/humble/share/ur_description/meshes/ur5/visual/upperarm.dae" />
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="/opt/ros/humble/share/ur_description/meshes/ur5/collision/upperarm.stl" />
      </geometry>
    </collision>
    <inertial>
      <mass value="8.393" />
      <origin rpy="0 0 0" xyz="0.0 0.0 0.28" />
      <inertia ixx="0.22689067591" ixy="0.0" ixz="0.0" iyy="0.22689067591" iyz="0.0" izz="0.0151074" />
    </inertial>
  </link>
  <joint name="elbow_joint" type="revolute">
    <parent link="upper_arm_link" />
    <child link="forearm_link" />
    <origin rpy="0.0 0.0 0.0" xyz="0.0 -0.1197 0.425" />
    <axis xyz="0 1 0" />
    <limit effort="150.0" lower="-6.2831853" upper="6.2831853" velocity="3.15" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="forearm_link">
    <visual>
      <geometry>
        <mesh filename="/opt/ros/humble/share/ur_description/meshes/ur5/visual/forearm.dae" />
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="/opt/ros/humble/share/ur_description/meshes/ur5/collision/forearm.stl" />
      </geometry>
    </collision>
    <inertial>
      <mass value="2.275" />
      <origin rpy="0 0 0" xyz="0.0 0.0 0.25" />
      <inertia ixx="0.049443313556" ixy="0.0" ixz="0.0" iyy="0.049443313556" iyz="0.0" izz="0.004095" />
    </inertial>
  </link>
  <joint name="wrist_1_joint" type="revolute">
    <parent link="forearm_link" />
    <child link="wrist_1_link" />
    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.39225" />
    <axis xyz="0 1 0" />
    <limit effort="150.0" lower="-6.2831853" upper="6.2831853" velocity="3.2" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="wrist_1_link">
    <visual>
      <geometry>
        <mesh filename="/opt/ros/humble/share/ur_description/meshes/ur5/visual/wrist1.dae" />
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="/opt/ros/humble/share/ur_description/meshes/ur5/collision/wrist1.stl" />
      </geometry>
    </collision>
    <inertial>
      <mass value="1.219" />
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0" />
      <inertia ixx="0.111172755531" ixy="0.0" ixz="0.0" iyy="0.111172755531" iyz="0.0" izz="0.21942" />
    </inertial>
  </link>
  <joint name="wrist_2_joint" type="revolute">
    <parent link="wrist_1_link" />
    <child link="wrist_2_link" />
    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.093 0.0" />
    <axis xyz="0 0 1" />
    <limit effort="150.0" lower="-6.2831853" upper="6.2831853" velocity="3.2" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="wrist_2_link">
    <visual>
      <geometry>
        <mesh filename="/opt/ros/humble/share/ur_description/meshes/ur5/visual/wrist2.dae" />
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="/opt/ros/humble/share/ur_description/meshes/ur5/collision/wrist2.stl" />
      </geometry>
    </collision>
    <inertial>
      <mass value="1.219" />
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0" />
      <inertia ixx="0.111172755531" ixy="0.0" ixz="0.0" iyy="0.111172755531" iyz="0.0" izz="0.21942" />
    </inertial>
  </link>
  <joint name="wrist_3_joint" type="revolute">
    <parent link="wrist_2_link" />
    <child link="wrist_3_link" />
    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.09465" />
    <axis xyz="0 1 0" />
    <limit effort="150.0" lower="-6.2831853" upper="6.2831853" velocity="3.2" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="wrist_3_link">
    <visual>
      <geometry>
        <mesh filename="/opt/ros/humble/share/ur_description/meshes/ur5/visual/wrist3.dae" />
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="/opt/ros/humble/share/ur_description/meshes/ur5/collision/wrist3.stl" />
      </geometry>
    </collision>
    <inertial>
      <mass value="0.1879" />
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0" />
      <inertia ixx="0.0171364731454" ixy="0.0" ixz="0.0" iyy="0.0171364731454" iyz="0.0" izz="0.033822" />
    </inertial>
  </link>
  <joint name="ee_fixed_joint" type="fixed">
    <parent link="wrist_3_link" />
    <child link="ee_link" />
    <origin rpy="0.0 0.0 1.570796325" xyz="0.0 0.0823 0.0" />
  </joint>
  <link name="ee_link">
    <collision>
      <geometry>
        <box size="0.01 0.01 0.01" />
      </geometry>
      <origin rpy="0 0 0" xyz="-0.01 0 0" />
    </collision>
  </link>
  <transmission name="shoulder_pan_trans">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="shoulder_pan_joint">
      <hardwareInterface>PositionJointInterface</hardwareInterface>
    </joint>
    <actuator name="shoulder_pan_motor">
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="shoulder_lift_trans">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="shoulder_lift_joint">
      <hardwareInterface>PositionJointInterface</hardwareInterface>
    </joint>
    <actuator name="shoulder_lift_motor">
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="elbow_trans">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="elbow_joint">
      <hardwareInterface>PositionJointInterface</hardwareInterface>
    </joint>
    <actuator name="elbow_motor">
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="wrist_1_trans">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="wrist_1_joint">
      <hardwareInterface>PositionJointInterface</hardwareInterface>
    </joint>
    <actuator name="wrist_1_motor">
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="wrist_2_trans">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="wrist_2_joint">
      <hardwareInterface>PositionJointInterface</hardwareInterface>
    </joint>
    <actuator name="wrist_2_motor">
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="wrist_3_trans">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="wrist_3_joint">
      <hardwareInterface>PositionJointInterface</hardwareInterface>
    </joint>
    <actuator name="wrist_3_motor">
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  
  
  <link name="base" />
  <joint name="base_link-base_fixed_joint" type="fixed">
    
    <origin rpy="0 0 -3.14159265" xyz="0 0 0" />
    <parent link="base_link" />
    <child link="base" />
  </joint>
  
  <link name="tool0" />
  <joint name="wrist_3_link-tool0_fixed_joint" type="fixed">
    <origin rpy="-1.570796325 0 0" xyz="0 0.0823 0" />
    <parent link="wrist_3_link" />
    <child link="tool0" />
  </joint>
  <link name="world" />
  <joint name="world_joint" type="fixed">
    <parent link="world" />
    <child link="base_link" />
    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0" />
  </joint>
  
  <link name="camera_mount_link">
    <inertial>
      <mass value="0.163" />
      <origin rpy="0 0 0" xyz="0 0 0" />
      <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001" />
    </inertial>
    <visual>
      <origin rpy="1.57 0 0" xyz="0 0 -0.033" />
      <geometry>
        <mesh filename="/home/jen-lab/ros2_ws/install/ur5_eye_in_hand/share/ur5_eye_in_hand/meshes/base_link.stl" scale="0.0001 0.0001 0.0001" />
      </geometry>
    </visual>
  </link>
  <joint name="tool0_to_mount" type="fixed">
    <parent link="tool0" />
    <child link="camera_mount_link" />
    <origin rpy="0 0 0" xyz="0 0 0" />
  </joint>
  <link name="robotiq_85_base_link">
    <visual>
      <geometry>
        <mesh filename="/home/jen-lab/ros2_ws/install/robotiq_description/share/robotiq_description/meshes/visual/2f_85/robotiq_base.dae" />
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="/home/jen-lab/ros2_ws/install/robotiq_description/share/robotiq_description/meshes/collision/2f_85/robotiq_base.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 2.274e-05 0.03232288" />
      <mass value="6.6320197e-01" />
      <inertia ixx="5.1617816e-04" ixy="2.936e-8" ixz="0.0" iyy="5.8802208e-04" iyz="-3.2296e-7" izz="3.9462776e-04" />
    </inertial>
  </link>
  <link name="robotiq_85_left_knuckle_link">
    <visual>
      <geometry>
        <mesh filename="/home/jen-lab/ros2_ws/install/robotiq_description/share/robotiq_description/meshes/visual/2f_85/left_knuckle.dae" />
      </geometry>
    </visual>
    <inertial>
      <origin rpy="0 0 0" xyz="0.01213197 0.0002 -0.00058647" />
      <mass value="1.384773208e-02" />
      <inertia ixx="3.5232e-7" ixy="0.0" ixz="1.1744e-7" iyy="2.31944e-6" iyz="0" izz="2.23136e-6" />
    </inertial>
  </link>
  <link name="robotiq_85_right_knuckle_link">
    <visual>
      <geometry>
        <mesh filename="/home/jen-lab/ros2_ws/install/robotiq_description/share/robotiq_description/meshes/visual/2f_85/right_knuckle.dae" />
      </geometry>
    </visual>
    <inertial>
      <origin rpy="0 0 0" xyz="-0.01213197 0.0002 -0.00058647" />
      <mass value="1.384773208e-02" />
      <inertia ixx="3.5232e-7" ixy="0.0" ixz="-1.1744e-7" iyy="2.31944e-6" iyz="0.0" izz="2.23136e-6" />
    </inertial>
  </link>
  <link name="robotiq_85_left_finger_link">
    <visual>
      <geometry>
        <mesh filename="/home/jen-lab/ros2_ws/install/robotiq_description/share/robotiq_description/meshes/visual/2f_85/left_finger.dae" />
      </geometry>
    </visual>
    <inertial>
      <origin rpy="0 0 0" xyz="0.00346899 -0.00079447 0.01867121" />
      <mass value="4.260376752e-02" />
      <inertia ixx="1.385792000000000e-05" ixy="0.0" ixz="-2.17264e-06" iyy="1.183208e-05" iyz="0.0" izz="5.19672e-06" />
    </inertial>
  </link>
  <link name="robotiq_85_right_finger_link">
    <visual>
      <geometry>
        <mesh filename="/home/jen-lab/ros2_ws/install/robotiq_description/share/robotiq_description/meshes/visual/2f_85/right_finger.dae" />
      </geometry>
    </visual>
    <inertial>
      <origin rpy="0 0 0" xyz="-0.00346899 -5.53e-06 0.01867121" />
      <mass value="4.260376752000000e-02" />
      <inertia ixx="1.385792e-05" ixy="0.0" ixz="2.17264e-06" iyy="1.183208e-05" iyz="0.0" izz="5.19672e-06" />
    </inertial>
  </link>
  <link name="robotiq_85_left_inner_knuckle_link">
    <visual>
      <geometry>
        <mesh filename="/home/jen-lab/ros2_ws/install/robotiq_description/share/robotiq_description/meshes/visual/2f_85/left_inner_knuckle.dae" />
      </geometry>
    </visual>
    <inertial>
      <origin rpy="0 0 0" xyz="0.01897699 0.00015001 0.02247101" />
      <mass value="2.969376448e-02" />
      <inertia ixx="9.57136e-06" ixy="0.0" ixz="-3.93424e-06" iyy="8.69056e-06" iyz="0.0" izz="8.19144e-06" />
    </inertial>
  <collision name="physx_box"><origin xyz="0.01897699 0.00015001 0.02247101" rpy="0.0 0.0 0.0" /><geometry><box size="0.02 0.02 0.05" /></geometry></collision></link>
  <link name="robotiq_85_right_inner_knuckle_link">
    <visual>
      <geometry>
        <mesh filename="/home/jen-lab/ros2_ws/install/robotiq_description/share/robotiq_description/meshes/visual/2f_85/right_inner_knuckle.dae" />
      </geometry>
    </visual>
    <inertial>
      <origin rpy="0 0 0" xyz="-0.01926824 5.001e-05 0.02222178" />
      <mass value="2.969376448e-02" />
      <inertia ixx="9.42456e-06" ixy="0.0" ixz="3.9636e-06" iyy="8.69056e-06" iyz="0.0" izz="8.33824e-06" />
    </inertial>
  <collision name="physx_box"><origin xyz="-0.01926824 5.001e-05 0.02222178" rpy="0.0 0.0 0.0" /><geometry><box size="0.02 0.02 0.05" /></geometry></collision></link>
  <link name="robotiq_85_left_finger_tip_link">
    <visual>
      <geometry>
        <mesh filename="/home/jen-lab/ros2_ws/install/robotiq_description/share/robotiq_description/meshes/visual/2f_85/left_finger_tip.dae" />
      </geometry>
    </visual>
    <inertial>
      <origin rpy="0 0 0" xyz="-0.01456706 -0.0008 0.01649701" />
      <mass value="4.268588744e-02" />
      <inertia ixx="1.048152e-05" ixy="0.0" ixz="3.5232e-6" iyy="1.197888e-05" iyz="0.0" izz="4.22784e-06" />
    </inertial>
  <collision name="physx_box"><origin xyz="-0.01456706 -0.0008 0.01649701" rpy="0.0 0.0 0.0" /><geometry><box size="0.018 0.02 0.04" /></geometry></collision></link>
  <link name="robotiq_85_right_finger_tip_link">
    <visual>
      <geometry>
        <mesh filename="/home/jen-lab/ros2_ws/install/robotiq_description/share/robotiq_description/meshes/visual/2f_85/right_finger_tip.dae" />
      </geometry>
    </visual>
    <inertial>
      <origin rpy="0 0 0" xyz="0.01456706 5e-05 0.01649701" />
      <mass value="4.268588744e-02" />
      <inertia ixx="1.048152e-05" ixy="0.0" ixz="-3.5232e-06" iyy="1.197888e-05" iyz="0.0" izz="4.22784e-06" />
    </inertial>
  <collision name="physx_box"><origin xyz="0.01456706 5e-05 0.01649701" rpy="0.0 0.0 0.0" /><geometry><box size="0.018 0.02 0.04" /></geometry></collision></link>
  <joint name="robotiq_85_base_joint" type="fixed">
    <parent link="camera_mount_link" />
    <child link="robotiq_85_base_link" />
    <origin rpy="0 0 0" xyz="0 0 0" />
  </joint>
  <joint name="robotiq_85_left_knuckle_joint" type="revolute">
    <parent link="robotiq_85_base_link" />
    <child link="robotiq_85_left_knuckle_link" />
    <axis xyz="0 -1 0" />
    <origin rpy="0 0 0" xyz="0.03060114 0.0 0.05490452" />
    <dynamics damping="0.8" friction="0.2" />
    <limit effort="50" lower="0.0" upper="0.8" velocity="0.5" />
  </joint>
  <joint name="robotiq_85_right_knuckle_joint" type="revolute">
    <parent link="robotiq_85_base_link" />
    <child link="robotiq_85_right_knuckle_link" />
    <axis xyz="0 -1 0" />
    <origin rpy="0 0 0" xyz="-0.03060114 0.0 0.05490452" />
    <dynamics damping="0.8" friction="0.2" />
    <limit effort="50" lower="-0.8" upper="0.0" velocity="0.5" />
  </joint>
  <joint name="robotiq_85_left_finger_joint" type="fixed">
    <parent link="robotiq_85_left_knuckle_link" />
    <child link="robotiq_85_left_finger_link" />
    <origin rpy="0 0 0" xyz="0.03152616 0.0 -0.00376347" />
  </joint>
  <joint name="robotiq_85_right_finger_joint" type="fixed">
    <parent link="robotiq_85_right_knuckle_link" />
    <child link="robotiq_85_right_finger_link" />
    <origin rpy="0 0 0" xyz="-0.03152616 0.0 -0.00376347" />
  </joint>
  <joint name="robotiq_85_left_inner_knuckle_joint" type="revolute">
    <parent link="robotiq_85_base_link" />
    <child link="robotiq_85_left_inner_knuckle_link" />
    <axis xyz="0 -1 0" />
    <origin rpy="0 0 0" xyz="0.0127 0.0 0.06142" />
    <dynamics damping="0.6" friction="0.15" />
    <limit effort="50" lower="0.0" upper="0.8" velocity="0.5" />
  </joint>
  <joint name="robotiq_85_right_inner_knuckle_joint" type="revolute">
    <parent link="robotiq_85_base_link" />
    <child link="robotiq_85_right_inner_knuckle_link" />
    <axis xyz="0 -1 0" />
    <origin rpy="0 0 0" xyz="-0.0127 0.0 0.06142" />
    <dynamics damping="0.6" friction="0.15" />
    <limit effort="50" lower="-0.8" upper="0.0" velocity="0.5" />
  </joint>
  <joint name="robotiq_85_left_finger_tip_joint" type="revolute">
    <parent link="robotiq_85_left_finger_link" />
    <child link="robotiq_85_left_finger_tip_link" />
    <axis xyz="0 -1 0" />
    <origin rpy="0 0 0" xyz="0.00563134 0.0 0.04718515" />
    <dynamics damping="0.4" friction="0.1" />
    <limit effort="50" lower="-0.8" upper="0.0" velocity="0.5" />
  </joint>
  <joint name="robotiq_85_right_finger_tip_joint" type="revolute">
    <parent link="robotiq_85_right_finger_link" />
    <child link="robotiq_85_right_finger_tip_link" />
    <axis xyz="0 -1 0" />
    <origin rpy="0 0 0" xyz="-0.00563134 0.0 0.04718515" />
    <dynamics damping="0.4" friction="0.1" />
    <limit effort="50" lower="0.0" upper="0.8" velocity="0.5" />
  </joint>
  <material name="aluminum">
    <color rgba="0.5 0.5 0.5 1" />
  </material>
  <material name="plastic">
    <color rgba="0.1 0.1 0.1 1" />
  </material>
  
  <joint name="camera_joint" type="fixed">
    <origin rpy="0 -1.5708 1.5708" xyz="0 -0.05 -0.015" />
    <parent link="camera_mount_link" />
    <child link="camera_bottom_screw_frame" />
  </joint>
  <link name="camera_bottom_screw_frame" />
  <joint name="camera_link_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.010600000000000002 0.0175 0.0125" />
    <parent link="camera_bottom_screw_frame" />
    <child link="camera_link" />
  </joint>
  <link name="camera_link">
    <visual>
      
      <origin rpy="1.5707963267948966 0 1.5707963267948966" xyz="0.0043 -0.0175 0" />
      <geometry>
        <mesh filename="/home/jen-lab/ros2_ws/install/realsense2_description/share/realsense2_description/meshes/d435.dae" />
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 -0.0175 0" />
      <geometry>
        <box size="0.02505 0.09 0.025" />
      </geometry>
    </collision>
    <inertial>
      
      <mass value="0.072" />
      <origin xyz="0 0 0" />
      <inertia ixx="0.003881243" ixy="0.0" ixz="0.0" iyy="0.000498940" iyz="0.0" izz="0.003879257" />
    </inertial>
  </link>
</robot>

My specific questions for the community:

URDF Fixes: For Isaac Sim 4.5 importer to create the correct articulation, do I must add <transmission> tags for the gripper driver joint and <mimic> tags for the follower joints in the URDF? Or should I rig this manually in Isaac Sim using OmniGraph/Joint Drives?
Collision Settings: To fix the grasping issue where the object can’t enter the gripper, should I change the collision approximation of the finger meshes from “Convex Hull” to “Convex Decomposition” in the Isaac Sim Physics properties?

Additional Context

ROS 2 Version: Humble
Hardware: RTX 4080
Goal: Reliable pick and place simulation.

VickNV · February 17, 2026, 11:36pm

Please upgrade to the latest GA release (Isaac Sim 5.1.0) and follow the instructions in Tutorial 6: Setup a Manipulator — Isaac Sim Documentation, as it shows the recommended way to configure Robotiq grippers in recent versions.

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Isaac Sim Version

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