Object Gripping and picking

just another user passing by. I think that the slipping object is a problem that occurs very often. I would suggest few things:

  • Try modifying the solver_position_iteration_count as suggested here
  • Try not to use the set_joint_positions() function (try instead the your_gripper_articulation.apply_action(ArticulationAction(joint_positions=[TARGET_POS, TARGET_POS]))) and play around with friction parameters as suggested here
  • Have a look also at the damping and stiffness settings as they may play a role if you are trying to do either a position, velocity or effort control. See here

If the gripper is not touching the object completely it may be a problem of collision settings. Check this topic.