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Setting mu1 and mu2 that high will probably result in weird behavior.

What I'd recommend trying:

  1. Reduce gripper and cylinder mu1 and mu2 to 1.0-100.0

  2. Give your gripper a small minDepth value of say 0.002-0.003 and a maxVel value of 0

<gazebo>  
  <mu1>1.0</mu1>  
  <mu2>1.0</mu2>  
  <minDepth>0.003</minDepth>  
  <maxVel>0</maxVel>  
</gazebo>
  1. Visualize contacts (View -> Contacts) [Diagnosis]

How much force are you closing the gripper with?

Setting mu1 and mu2 that high will probably result in weird behavior.

What I'd recommend trying:

    • Reduce gripper and cylinder mu1 and mu2 to 1.0-100.0

    • Give your gripper a small minDepth value of say 0.002-0.003 and a maxVel value of 0

<gazebo>  
  <mu1>1.0</mu1>  
  <mu2>1.0</mu2>  
  <minDepth>0.003</minDepth>  
  <maxVel>0</maxVel>  
</gazebo>
    • Visualize contacts (View -> Contacts) [Diagnosis]

How much force are you closing the gripper with?