Gripper 85 bug when changing force

[cyd8a18]

Hello,
Thank you for this model!
I am working on an simulation where I need to modify the force in the gripper, so in the ControlGripper method that you provide, I changed the value of the force. Specifically I change the variable desired_force in the following parts:

1. p.setJointMotorControl2(robotID, parent.id, controlMode, targetPosition=pose, force=desired_force, maxVelocity=parent.maxVelocity)

2. p.setJointMotorControl2(robotID, child.id, controlMode, targetPosition=childPose, orce=desired_force, maxVelocity=child.maxVelocity)

I have tried different force values but I have the behavior that you can see in the image, where some of the parts of the gripper are not attached when I try to grab an object. Are there some parameter in the urdf that I must change?

[ElectronicElephant]

Hi @cyd8a18 ,

Thank you for reaching me.

It's a known issue, which we can not 100% avoid.

First, can you confirm that you are using the code from the robotflow branch, instead of the main branch?

Second, can you tell me the value of desired_force?

[cyd8a18]

Thank you for your quick reply. Regarding your questions:

• I made a mistake and I was using the wrong code, I changed to robotflow branch
• I have tried different values for desired_force as 5, 25, 50.

I don't have the same behavior anymore. However, when i tried to open and close (using the same code that you have without changing the force), the gripper moves from one side to the other, as you can see in the following image:

Do you have any suggestion to solve this problem?

[ElectronicElephant]

Hi @cyd8a18 ,

Sorry for the late reply. I am quite busy these days.

I think this problem may come from the non-convex objects that you add to the environment.
Are they decomposed? (See section V-HACD in https://docs.google.com/document/d/10sXEhzFRSnvFcl3XxNGhnD4N2SedqwdAvK3dsihxVUA/edit#)
Can you try removing them totally?