Simulation Issues

[huluwulu1115]

Hi, thank you for such an amazing env. During our testing, we found a weird issue regarding the Robotiq Gripper defined in the USD file. Suppose you are using a flattened Robotiq Gripper with Joint Mimic, and the joint definition is simplified. However, when I import it to isaacsim, there are a couple of problems:

1. The gripper collision model is in dark red, suggesting some fall back in the collision model.
2. The gripper link is movable, see my video
3. When grasping, the gripper finger sometimes cannot stay parallel, as shown in the picture.

Screencast.from.10-23-2025.03.08.05.PM.webm

[TritiumR]

Hi. I got the same problem here. Have you find the reason? Seems that there are two joints missing?

Any help will be appreciated.

[TritiumR]

Solved by using exactly the same config parameter in nvidia_droid.py

The link is movable on purpose to break the articulation loop.