# Robotiq gripper grasping problem

**URL:** <https://forums.developer.nvidia.com/t/robotiq-gripper-grasping-problem/320735>\
**Category:** Isaac Sim\
**Tags:** isaac-sim-v2023-1-1\
**Created:** [January 21, 2025, 5:39am UTC](https://forums.developer.nvidia.com/t/robotiq-gripper-grasping-problem/320735 "2025-01-21T05:39:31Z")\
**Posts on this page:** 4\
**Page:** 1

<div class="post-metadata">

**Author:** ![21t4068e](https://developer.download.nvidia.com/images/forums/profile-default-devtalk-84.png) [@21t4068e](https://forums.developer.nvidia.com/u/21t4068e)\
**Post date:** [January 21, 2025, 5:39am UTC](https://forums.developer.nvidia.com/t/robotiq-gripper-grasping-problem/320735/1 "2025-01-21T05:39:31Z")

</div>

### Isaac Sim Version

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

### Operating System

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

I am currently using the Robotiq 2F-140 gripper and the CR5 robot in Isaac Sim to pick up objects such as books, cups, and mouse imported from this site:

> **[SAPIEN](https://sapien.ucsd.edu/browse)**

However, I am encountering grasping issues. When I try to grasp objects, the gripper either penetrates or slips off them. For simple objects like cubes, I can sometimes grasp them if the friction settings are appropriate, but this is not always consistent. For more complex objects from the website or even simpler shapes like cylinders, I am unable to grasp them properly.

I also tried using a fixed joint to connect the gripper to the objects. This method worked for cubes but not for cylinders. Additionally, I attempted to remove all collisions from a cup model and create a cube with a rigid body and collision to substitute for the cup. I then tried using the cup’s appearance and the cube’s collision properties. However, when combining the two objects, the group lacked a rigid body and collision properties, so I couldn’t grasp it.

These are the approaches I have tried so far. I have read several forum posts related to this issue, but I still can’t resolve it.

I believe this is a fairly common problem, but I would greatly appreciate any guidance or suggestions to fix it.

---

<div class="post-metadata">

**Author:** ![zhengwang](https://sea2.discourse-cdn.com/nvidia/user_avatar/forums.developer.nvidia.com/zhengwang/32/256893_2.png) [@zhengwang](https://forums.developer.nvidia.com/u/zhengwang)\
**Post date:** [March 19, 2025, 10:24pm UTC](https://forums.developer.nvidia.com/t/robotiq-gripper-grasping-problem/320735/2 "2025-03-19T22:24:11Z")

</div>

Hi @21t4068e. Please switch to our latest stable version Isaac Sim 4.5.0.

---

<div class="post-metadata">

**Author:** ![zhengwang](https://sea2.discourse-cdn.com/nvidia/user_avatar/forums.developer.nvidia.com/zhengwang/32/256893_2.png) [@zhengwang](https://forums.developer.nvidia.com/u/zhengwang)\
**Post date:** [April 16, 2025, 9:02pm UTC](https://forums.developer.nvidia.com/t/robotiq-gripper-grasping-problem/320735/4 "2025-04-16T21:02:52Z")

</div>

I will close this topic since there is no new replies. But please feel free to open a new one if the issue still persists.

---

<div class="post-metadata">

**Author:** ![zhengwang](https://sea2.discourse-cdn.com/nvidia/user_avatar/forums.developer.nvidia.com/zhengwang/32/256893_2.png) [@zhengwang](https://forums.developer.nvidia.com/u/zhengwang)\
**Post date:** [April 16, 2025, 9:14pm UTC](https://forums.developer.nvidia.com/t/robotiq-gripper-grasping-problem/320735/5 "2025-04-16T21:14:17Z")

</div>