Block sticking between end effectors in Fetch despite there being no contact, and the end effector being open.

[Cloaked04]

I'd love some help on the following issue:

I am trying to set up a simulation where my fetch robot can move around and move blocks from one table to another. The issue is my block just gets stuck between the end effectors even when the fingers are open and there is no contact between the robot and the block. In order to move the robot, I am using a sampling based approach to sample points where IK would be successful and then move my robot there. The issue is caused by using resetBasePoseAndOrientation on the block anywhere in the whole process even when I move my robot and arms without using it and only use it to set the state back to before the sampling process. I know this is the issue because this issue was initially encountered when placing the block on the first table where the robot moves without any block, so removing any resets for the block in the whole process of arm motion fixed it. However I can't possibly get rid of the block reset from my sampling procedure; have tried reducing the friction for end effectors, increasing the friction for tables and things like reducing contactBreakingThreshold but they don't help and only end up making the simulation unstable. I'm also very new to pyBullet, and this is only my first project, so it definitely possible that I have missed something very obvious that could fix this.

Screen.Recording.2025-09-11.162245.mp4

Therefore, if any kind soul could just point me in the right direction, it'd be great.