Slipping issue when grasping and lifting an object with the robotiq_2f85_v4 gripper

[MNaya]

Intro

Hi!

I'am Martin Naya, a robotic researcher with experience with other robotic simulators (concretely CoppeliaSim) who is now testing MuJoCo

My setup

Ubuntu 22.04.5 LTS
mujoco 3.2.6
mujoco_menagerie updated up to 11/06/2025
Python 3.12.8

My question

I'm trying to utilize the robotiq_2f85_v4 gripper for a grasping application. For that, I would like to test the grasping capability of the gripper, and I've encounter the problem that has been addressed several times in this forum: the slippery behavior when grasping an object.

I've search through the discussion forum, test many suggestions provided by the community (I think most of then are alredy implemented by default in the corresponding "xml" files because some issues are 2-3 years old), such as:

• Adding the
• Adding the noslip_iterations
• Change the timestep
• Increasing the friction of the bodies.
• Testing several values of the "solref" and "solimp" for the box and the gripper pads.

But I still have such problem.

Then, could someone help me figure out what the problem is? Because I understand that the scenes and files in the "mujoco_menagerie" library should work without issue.

I add a small video showing the gripper trying to grasp the box, and rising up without having it grasped.

Slippery_gripper_mujoco.mp4

Minimal model and/or code that explain my question

gripper_robotiq.zip

Confirmations

• I searched the latest documentation thoroughly before posting.
• I searched previous Issues and Discussions, I am certain this has not been raised before.