isaacsim_assets

Public NVIDIA Isaac Sim assets maintained by Robotiq. This repository is a home for Robotiq simulation assets and the documentation needed to use them. Four grippers are published here today, the 2F-85, the 2F-140, the Hand-E and the Hand-E C10, and the layout is organized by asset category so other assets (grippers, robots, tooling, scenes) can be added over time.

Layout

grippers/                         Gripper assets
  GRIPPER_SIMULATION_GUIDE.md     How to simulate Robotiq grippers in Isaac Sim
  images/                         Figures used by the guide
  Robotiq_2F_85/                  2F-85 gripper (PhysX + Newton solver variants)
  Robotiq_2F_140/                 2F-140 gripper (PhysX + Newton solver variants)
  Robotiq_Hand_E/                 Hand-E gripper (PhysX, Stroke + Fingertip + FingertipMount variants)
  Robotiq_Hand_E_C10/             Hand-E C10 gripper, three concentric fingers (PhysX + Newton)
  tactile/                        TSF-85 tactile sensor of the 2F grippers (readers, payload generator)
  demo/                           Demos, incl. the UR5e teleop for either gripper
tests/runtime/                    Manual Isaac Sim runtime tests (need a GPU, not run in CI)
LICENSE                           Repository license + third-party attributions

New asset categories should be added as sibling top-level directories (e.g. robots/, scenes/), each self-contained with its own assets and docs.

Contents

Robotiq 2F-85, 2F-140, Hand-E and Hand-E C10 grippers

The 2F-85, 2F-140, Hand-E and Hand-E C10 grippers are authored for Isaac Sim 6 with the same layout: each is a single asset whose Physics variant selects the solver and grip — same body tree, geometry, and collision for all of them — and whose Fingertip variant selects the fingertip.

	2F-85	2F-140	Hand-E	Hand-E C10
Asset	grippers/Robotiq_2F_85/	grippers/Robotiq_2F_140/	grippers/Robotiq_Hand_E/	grippers/Robotiq_Hand_E_C10/
Physics — PhysX	Physx_parallel_grip (default), Physx_compliant	Physx_parallel_grip (default), Physx_compliant	PhysX (default)	PhysX (default)
Physics — Newton / MuJoCo-Warp	Newton_compliant, Newton_parallel_grip (tuning)	Newton_compliant, Newton_parallel_grip (tuning)	Newton	Newton
Fingertip	Standard (default), Tactile_TSF85	Flat_Overmolded (default), Silicone, V_Groove, Tactile_TSF140	Std (default), Flat_Overmolded, Support, Extender, Bin_Picking	Stepped (default), Extender
SensorSim (only under the TSF fingertip)	None (default), EffectiveResponse, Raycast (tactile sensor)	None (default), EffectiveResponse, Raycast (same sensor)	—	—
FingertipMount	—	—	Outside (default), Inside (fingertip screw-hole row; Inside is 9 mm closer to the centerline)	—

The Hand-E has two sliding fingers (50 mm stroke) instead of a linkage, so it has one PhysX and one Newton physics variant (one driven finger joint, the other finger follows it). The Newton coupling is a stiff MuJoCo joint equality baked into the asset.

The Hand-E C10 has three concentric fingers, 120 degrees apart, that slide radially toward the gripper axis (19.2 mm each), so it is a separate asset rather than a Hand-E variant: one driven finger joint, the other two follow it (PhysX mimic, a stiff joint equality on Newton). Its stepped fingertip and the finger extender are modelled; see its README.

*_parallel_grip keeps the fingers parallel (mimic joints on PhysX, a welded coupler on Newton); *_compliant simulates the closed five-bar loop, so the fingers wrap around the object. The Newton variants model the linkage more robustly; on Isaac Sim 6.1+ they need the shared scene layer on your stage (see the gripper's newton/ folder, linked in the table). Isaac Sim 6.0.1 is no longer supported; the last version that supports it is the git tag last-isaac-6.0-supported.

The UR5e teleop demo runs either gripper on either solver (TELEOP_GRIPPER=2F85|2F140, TELEOP_PHYSICS=<Physics variant>).

Start with the Gripper Simulation Guide — it covers choosing a variant, mounting the gripper on a robot, tuning it for reliable grasping, the physics of the mechanism, and the Newton backend.

Getting the assets

The heavy asset files (.usd, .png) are stored with Git LFS. Install it before cloning so the real files are fetched instead of pointer stubs:

git lfs install
git clone https://github.com/robotiq/isaacsim_assets.git

.usda files are plain-text USD and are kept diffable (not in LFS).

License

Original work in this repository (documentation, scripts, and Robotiq-authored asset content) is released under the BSD 3-Clause License.

Some asset files were originally copied or derived from a third party (the NVIDIA Isaac Sim asset library) and remain under its own license. See LICENSE for the full text and attributions, and the LICENSE files bundled next to the affected assets.