[Question] Custom import robot arm + claw, claw can not pick up objects

[qiangl9618]

Question

I used urdf-usd in isaaclab to import my own mechanical arm + claw, but when I was clamping objects, I found that once the clamping objects collided, it would cause joint rotation. Finally, after debugging, I thought it was the problem of colliding bodies between the claws, but I didn't know how to deal with it. nvidia夹爪碰撞问题.webm

nvidia夹爪-抓取.webm

[kellyguo11]

Hi there, it may be helpful to tune the damping or stiffness of the joints for the robot