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Thanks Nate!

We have tried changing the physics parameters, its still the same issue. We are using positional control for the arm. As for the gripper, we tried to apply max. force on top of max. closing by position.

For a quick temporary solution, is there a way to attach the object with the gripper by creating an artificial link? Can we do it from the code for moving the robot? or does it require modifying the urdf manually everytime?