I want to use Isaac Gym to evaluate two-finger grasps in simulation. However, the simulation currently leads to unrealistic behaviour where the gripper sometimes passes through the object after some initial resistance.
Here is an example of grasping a cup where the gripper does not stop on the surface of the cup. The rendering is of the collision meshes which seem to be fine.
I tried to change some simulation parameters (e.g. the dt and substeps) but could not figure out what to change to get to more realistic behaviour and accurate grasp evaluation. Is anyone familiar with this issue or could provide some pointers to possible fixes?
The code for reproducing the example shown in the picture with Gym preview 4 can be found here.