i think that for this you have to edit the rotation values of the attach point
Specifically the issue is related to the collision pair between the flange of the robot and the gripper. By default, this collision pair is NOT disabled, hence resulting in a permanent collision.
Disabling this specific collision solve the issue; but i think the default behavior of the assembler should take this into account!
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The gripper is not being reflected in the robot assemble tool, even after loading it in the scene. when tried to follow the guide mentioned above - Tutorial 6: Setup a Manipulator ā Isaac Sim Documentation
Screencast from 06-26-2025 02:17:27 PM|video
Are you observing the collision issue between the robotās flange and the gripper when using the Robot Assembler tool in Isaac Sim 5.0? Is this problem specific to one robot arm and gripper pair, or have you seen it happen with other combinations as well?
A short video clip demonstrating your assembly procedure and the resulting behavior would be incredibly helpful for our team to understand and replicate the problem.
We appreciate your continued assistance in tracking this down.
Here are some videos.
I confirm that I am using Isaac Sim 5.0
This problem arises with robots converted from URDF using the URDF importer. I imported them following the official tutorial. The converted-from-URDF usd files seem fine to me as I can use them in my simulation.
See the collision happening in the following video. You can see that the wrist is rotating, not due to a target velocity being set but rather due to a collision between flange and gripper. Disabling manually the āself collision enabled checkboxā in the articulation root seems to fix the issue. But i think this should be handled by the assembler. Also, instead of disabling all the collision pair, one might want to in fact just disable the problematic collision pair.
Another video for reference where the gripper is behaving weirdly, probably due to the collision.
This problem does not seem to happen for official asset ur10e:
Also, by any chance, is there a way to show the collision happening? Maybe by highlighting the colliders involved in the collision? This would help a lot for debugging
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Hi JeanLesur, forgive me if this is a dumb question, but Iām curious why you used the URDF importer (described in the tutorial you referenced) instead of just importing/selecting the assets from the Asset Browser (such as in Isaac Sim 4.5.0). I havenāt looked into Isaac Sim 5.0 yet, but I imagine that functionality (and the UR10e and Robotiq 2F-140 assets) is still there?
Yes, the Universal Robots and Robotiq gripper are provided as official assets. But as you will see, the 2f140 provided by NVIDIA is totally buggy. On top of that i am also working with robots that are not supported in the official assets, hence the need for the URDF Importer :)
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Ah yes, that makes sense. I ran into some issues with the UR5e and the Robotiq 2F85 gripper as well. Looks like Iāll be looking into the URDF importer too, haha. Thanks!
Hi all! The robot assembler should work fine in Isaac Sim 5.0. Please give it a try! If you see new issues with Isaac Sim 5.0, please create a ticket either in the developer forum or in github.
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