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. Only the 2F-85 gripper is published here today, but 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)
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 gripper

A 2F-85 adaptive gripper authored for Isaac Sim 6, as a single asset (grippers/Robotiq_2F_85/) whose Physics variant selects the solver — same body tree, geometry, and collision for both:

• PhysX — Physx_parallel_grip (mimic-joint) and Physx_compliant (closed five-bar loop) variants.
• Newton / MuJoCo-Warp — Newton_compliant, which models the compliant five-bar linkage more robustly. It needs a one-shot runtime tuning after each Stop→Play; see Robotiq_2F_85/newton/.

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.