Follow-up to Issue-3187

[aravind-3105]

Reference Issue-3187: #3187

Link to python file and URDF file : http://trohs.xyz/k3FZh

As stated before, I am using a modified version of the inversedynamics.py in this repository by adding a PD control to it which is defined by the H matrix. This is used to replicate the grasping motion. But the error does not converge to zero. What could be the possible reason for this?

Another issue that occurs is that when I turn on collision flags, the model goes haywire when the fingers touch the palm. What are the possible methods that can be used to overcome this?