[Issue] Isaac Sim 5.1: Robotiq 2F-85 gripper explodes/breaks apart ONLY when grasping an object

[HSU0519]

When I close the gripper without any objects (empty grasp), it works perfectly fine. However, when I try to grasp a cube, the gripper's joints immediately explode/break apart upon contact (as shown in the attached video).

How should I solve this?
https://github.com/user-attachments/assets/958d5e0b-9f19-4baf-9b53-37891cef5f3f

[PeterL-NV]

Hi, Your issue might be caused by physics instability due to insufficient joint constraints or solver settings.

• Weak joint drives/stiffness - joints can't resist contact forces
• High contact forces - cube's mass or collision properties create excessive forces
• Solver iterations too low - physics solver can't converge properly
• Joint limits violations - forces exceed joint effort limits