Hello, i’m trying to use assembly function on Isaac Lab to assembly barrett-hand gripper with UR10 robot.
The problem is when i assembly the gripper with UR10 robot, the gripper is not fixed but slipping on assembly surfaceseeing on right side robot of first video. Also, when driving manipulator after assembling, the link of manipulator is swing too.(seeing wrist link on second video)
I found that this issue is getting better when i adjust the actuator stiffness and effort limit to high value(seeing on left side robot of first video), but i feel that values are not realistic and i want to know why that situations happened.
Thank you for reading.