Robot Hand/Fingers Penetrating Cube and Unable to Grasp or Lift Object in Isaaclab

[Ihebzaouali]

Question

Hello,
I am working on a manipulation task in Isaaclab where a custom humanoid robot needs to pick and place a cube into a bin.

My current problem is that the fingers/hand penetrate the cube and sometimes even parts of the scene (cube/bin). The robot closes its fingers, but it cannot properly grasp or lift the cube only when being penetrated in the cube.

Things I already tried:
-Adjusting PhysX solver position iteration count
-Adjusting solver velocity iteration count
-Adding and tuning static/dynamic friction on both the fingers and the cube
-Checking/adding contact and collision settings on fingers and cube
-Adding a Surface Gripper to the end effector

Despite these changes, the issue still happens:
-Fingers penetrate the cube
-Surface gripper not working

Build Info

• Isaac Lab Version: 2.3.2
• Isaac Sim Version: 5.1