Franka Cabinet example in Isaac Sim 5.0 (drawer not opening/closing properly)

[Sylelil]

Description

Following the official documentation Robot Policy Example – Franka Cabinet, we tried running the example in Isaac Sim 5.0. According to the guide, the Franka robot should open and close the drawer of the cabinet. However, in our case the behavior is incorrect:

• The drawer does not open or close properly;
• The Franka arm moves in an unexpected/erratic way and does not complete the intended action.

We attached a video showing the observed behavior.

Steps to reproduce

• Launch Isaac Sim 5.0;
• Run the Franka + cabinet example;
• Observe the robot’s behavior during the drawer interaction.

Expected behavior:
The Franka should successfully open and close the drawer, as demonstrated in the documentation.

Observed behavior:
The Franka fails to open/close the drawer and performs erratic movements.

Attachments:

Video.del.2025-09-16.11-58-30.webm

Isaac Sim version

5.0.0

Operating System (OS)

Ubuntu 24.04.3 LTS

GPU Name

NVIDIA RTX A6000

GPU Driver and CUDA versions

Driver Version: 570.158.01, CUDA Version: 12.8

Logs

No response

Additional information

No response

[vick-yu]

I have also observed another abnormal behavior on my end. I am currently coordinating with our team to investigate this issue further.

[vick-yu]

Thank you for raising this issue. After clicking the “pause” button and then “play,” the robot’s behavior is inconsistent and should be further investigated. We have filed a ticket to address them.