The 2f140 is still unusable as provided by Isaac Sim, and requires long and complex modifications to make it “work” (despite it is still not working as intended). Many users reported problems with it and this is still not solved.
What I am trying to achieve is to have a parallel gripper (important to have a parallel closing) that can lift a simple cube.
Both fingers and the cube have Rigid Body material with static and dynamic friction coefficient set to 1
Collider has been applied to the cube with Physics > Add Rigid Body with Colliders Preset
In the previous topic [1] I opened (which got automatically closed), an NVIDIAN said the gripper doesn’t work when tested on its own, but it has to be attached to the arm [2].
However, this is in contrast to a work published by an NVIDIA team on generating grasps [3] using simulation without the gripper being attached to an arm. The published work utilizes data collected using the Robotiq 2F-140 gripper, which is not attached to a robot arm but rather floats in the air. I inquired about the original USD used for data collection [4], but it appears to be unavailable [5].
This asset is also not working for me, even though I attached it to an arm.
I also found a tutorial that provides the URDF of the Robotiq 2F-140 Gripper and followed it to build my own robot. However, I still have the issue that it sometimes penetrates the grasping target.
I’d like to see a fully usable USD for this grippe!
yes but basically the gripper does not have to be attached to a robot arm. You can indeed use a “fixed joint” as the gripper base to hold the gripper mid-air and use it. We need to avoid the fingers to collide with the ground as the gripper will “explode” in that case.
And yes, as of November 2025, this gripper is still not working as intended.