Isaac Gym IIWA robot with RG2 gripper | Gripper vibrating and not stable

Omniverse Isaac Sim
,
1

I am trying to build a custom RL task in Isaac Gym using a Kuka IIWA with an attached onrobot RG2 gripper at the ee_link. The iiwa works properly in joint position control using the following values :

robot_props["driveMode"][:7].fill(gymapi.DOF_MODE_POS)
robot_props["stiffness"][:7].fill(1100.)
robot_props["damping"][:7].fill(125.)

but the gripper is vibrating with these gains:

robot_props["driveMode"][7:].fill(gymapi.DOF_MODE_POS)
robot_props["stiffness"][7:].fill(1500.)
robot_props["damping"][7:].fill(250.)

Is there any proper way to tune the joints of the gripper to make them stable? Here is the video. What can I check to rectify this ?

Thank you.

3

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