Hi! Thank you for taking the time to read my question.
I’ve created a custom environment where I use a franka panda arm. I’ve also added the sektion cabinet included with isaacgym. I have an issue when trying to grasp and open the door of the cabinet. The end-effector grasps the handle but then doesn’t have enough power to grip and pull it.
I’ve increased the effort limit for the two fingers and this seems to fix the problem on the surface. However, inside the cabinet, I’ve placed a mug. When trying to grasp and lift it, the mug shoots off or spins in the grasp. Reducing the effort for this task fixes this issue, but then I can’t open the cabinet again.
I’ve also tried to control the fingers using the effort mode. For some reason, the fingers won’t budge unless I apply a force of over 3000 newtons. This seems highly unrealistic and I couldn’t fine-tune it to work reliably.
Thank you for your help!