Isaac Sim Version 5.1.0 Operating System Windows 11 Hello! I have a question related to this issue: Slippery gripper despite changing the material property . I used the modified asset Collected_testing_gripper_with_friction.zip to test the grasping, but I can see that it is still quite unstable, and…

Thank you for the update. I can see that you created a reworked gripper and there are some instructions for enhanced stability. I downloaded 2f140_reworked.zip and followed steps 2-7 to create an exact same setup and test the stability. Here is the .usd file that I got after following steps 2-7: 2f…

Try to reduce the physics timestep and increase the friction if the cube slips when lifting speed is faster.

Thank you for the suggestion. So far, I have tried to increase both static and dynamic friction up to different values, even unrealistically high, like 10.0, but it does not seem to help. Also, I’m not doing it from scratch, I’m using examples and .usd files that in previous topics on this forum are…

Thanks for the feedback, it’s challenging to generalize a tuned scenario to a similar one and it always requires to re-tune after the parameters are changed.

It seems like a serious limitation, though, to have a gripper that can properly grasp only one simple type of object with carefully tuned parameters, but if the object is just a little bit different, to re-tune the parameters

Thanks for the feedbacks! I am going to close this topic. If you want to discuss more on this, please create a discussion on the GitHub repo discussions .

Stable grasping in Isaac Sim

Omniverse Isaac Sim

JeanLesur December 16, 2025, 3:40pm 2

Are you using velocity commands for the gripper? It works way better than position commands, see topic

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Stable grasping in Isaac Sim

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