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cpph/
elfin-s30-isaaclab

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Elfin S30 + Robotiq 2F-140 — Isaac Sim / IsaacLab Asset

USD assets for the Elfin S30 6-DOF robotic arm combined with the Robotiq 2F-140 parallel gripper, prepared for use in IsaacLab and LeIsaac.

Robot Specs

Property	Value
DOF (arm)	6
Gripper	Robotiq 2F-140 parallel gripper
Max reach	1674 mm
Payload	30 kg
Finger-joint range	0 – 45 °
Root joint	`root_joint` (fixed base)

File Structure

S30.usd                          # Top-level USD entry point
SubUSDs/
  S30_base.usd                   # Robot geometry & kinematics
  S30_physics.usd                # PhysX articulation / drive properties
  S30_sensor.usd                 # Sensor placeholders
  Robotiq_2F_140_base.usd        # Gripper geometry
  Robotiq_2F_140_config.usd      # Gripper configuration layer
  Robotiq_2F_140_controller.usd  # Controller layer (ActionGraph removed —
                                 #   see note below)
  Robotiq_2F_140_physics_edit.usd # Gripper PhysX gear constraints
  _F_Body_JFX.usd / Finger*.usd  # Gripper sub-mesh parts
  materials.usd                  # Shared materials

Note on ActionGraph: The original Robotiq controller USD contained an OmniGraph ActionGraph that drove mimic joints via CPU-side setDriveTarget. This conflicts with Isaac Sim's GPU physics pipeline (eENABLE_DIRECT_GPU_API). The controller layer has been replaced with an empty USD layer. Mimic joint tracking is implemented instead as a Python event in the LeIsaac task (track_robotiq_mimic_joints).

IsaacLab Integration

ArticulationCfg

python

from leisaac.assets.robots.elfin_s30 import S30_CFG

robot_cfg = S30_CFG.replace(prim_path="{ENV_REGEX_NS}/Robot")

Joint Names

Index	Name	Type
0	joint1	arm (revolute)
1	joint2	arm (revolute)
2	joint3	arm (revolute)
3	joint4	arm (revolute)
4	joint5	arm (revolute)
5	joint6	arm (revolute)
6	finger_joint	gripper main (revolute)
7	right_outer_knuckle_joint	gripper mimic ×−1
8	left_outer_finger_joint	gripper passive
9	right_outer_finger_joint	gripper passive
10	left_inner_finger_joint	gripper mimic ×+1
11	right_inner_finger_joint	gripper mimic ×+1
12	left_inner_finger_pad_joint	gripper passive
13	right_inner_finger_pad_joint	gripper passive

Actuator Parameters

Group	Joints	Stiffness	Damping	Effort limit
`elfin-arm`	joint1–6	349.0	34.9	350 N·m
`robotiq-finger`	finger_joint	800.0	40.0	50 N·m

Task: LeIsaac-S30-PickOrange-v0

A pick-and-place task where the S30 arm picks three oranges and places them onto a plate inside a kitchen scene.

bash

conda activate leisaac45
cd /path/to/leisaac

# Teleoperation (keyboard)
python scripts/environments/teleoperation/teleop_se3_agent.py \
  --task=LeIsaac-S30-PickOrange-v0 \
  --teleop_device=s30-keyboard \
  --enable_cameras

# Policy inference
python scripts/evaluation/policy_inference.py \
  --task=LeIsaac-S30-PickOrange-v0 \
  --policy_type=lerobot-act \
  --policy_checkpoint_path=<path_to_checkpoint> \
  --enable_cameras

License

The Elfin S30 URDF / USD assets are provided by HAN'S Robot. The Robotiq 2F-140 USD is © Robotiq / NVIDIA Isaac Sim asset library. The IsaacLab integration code is MIT-licensed.

cpph/elfin-s30-isaaclab