When tuning maxForce, I am seeing the following issues:
High maxForce → during lifting, the object penetrates through the fingers.
Low maxForce → the gripper cannot hold the object and the grasp fails.
This issue occurs across various objects, including my custom cube (only friction coefficients set to 1, mass = 0.001 kg) and official Isaac Sim YCB assets such as: Axis_Aligned_Physics/005_tomato_soup_can.usd
Questions:
Could this be caused by an issue in my gripper configuration?
Or could the problem be due to the object’s physical parameters (friction, mass, etc.)?
Any suggestions or experiences would be greatly appreciated.
Thanks for the detailed description and for linking the manipulator setup tutorial. From what you describe, this is likely a combination of gripper drive tuning and contact/asset parameters, not only maxForce.
To narrow this down, could you load the reference asset Isaac Sim/Samples/Rigging/Manipulator/import_manipulator/ur10e/ur/ur_gripper.usd (the completed UR10e + 2F‑140 asset from Tutorial 6) and test a grasp using one of the YCB “Axis_Aligned_Physics” objects with their default physics settings? If you can share whether:
The same penetration / slipping behavior appears with this reference setup, or
It only occurs with your custom robot or custom object assets,
that will help determine whether the root cause is in the gripper/robot configuration or in the object/contact parameters, and suggest more targeted tuning steps.
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