Effort controlling in Standalone appication and Extension in simulating a parallel gripper gives different result?

So I am controlling a parallel gripper using both extension and standalone application.

I am using RMPFlow in Extension and RMPFlowController( not sure if they are different…). For those who interesting, you can find “RMPFlowController” in standalone scripts for Franka’s pick and place tasks.

In my extension the gripper stopped at the determined position.


But in my standalone code, the gripper will pass through the “joint_closed_positions” when gripper.forward(action = “close”) is called. What I did is add callable functions to SingleManipulator() to set the joints’ effort while applying ArticulationAction() on the gripper’s joints.

Thank you for any help.

Hi, I’m not a Nvidia employee but I also had trouble using the Franka.gripper.forward(action = “close”) function. What worked for me was using the Franka.gripper.close() function or you could control the position more specifically with franka.gripper.apply_action(ArticulationAction(joint_positions=[TARGET_POS, TARGET_POS]))

Hope it helps