Franka robot waggles and gripper open error

Omniverse Isaac Sim
1

hello,
I have a problem about simulation.

  1. why the robot vibrates when it grasps the bottle. It can not be stable.
  2. why the gripper opens automaticically when finishing every caresian motion. It opens 4,5 times during the motion
  3. It is very difficult to catch the bottle, how to improve the performance.

3

It looks like the collision mesh on your bottles might not be a close match to the visual mesh of the bottles. What type of collision mesh do you have? Convex Hull? SDF would be better.

5

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