In a robotic arm, once the gripper has grasped an object, how does it stop closing?

Hello everyone, I am trying to grab a cube using a robotic arm, but I have encountered a problem. When I set the gripper to close, it continues to do so. After the gripper has grasped the object, it does not stop; instead, it keeps closing, which leads to some issues and results in the object being thrown out.

I have tried adjusting the “Drive” settings such as “Max Force,” “Damping,” and “Stiffness,” but none of these adjustments have been effective. How can I resolve this issue?

I have been struggling with this issue for a while, and my code to close the gripper is

my_denso.gripper.apply_action(ArticulationAction(joint_positions=np.array([0.0, 0.0])))

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