How to improve stability when grasping an object

Hi, I imported a robot arm with gripper and tried to grasp a cube.
But I found that it’s unstable (jitter and unstable collision detection) when grasping it as shown in this video:

For the unstable collision detection:

Here are physics settings of gripper’s tip and cube:
cube’s collider:

cube’s rigid body:

gripper’s tip collider:

By the way, how to set a proper value for gripper’s joint to grasp an object?
I found that I can’t just totally close the gripper to grasp the cube. I need to choose the joint value carefully that gripper’s width is close to cube’s width

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Hi, can anyone help me?