the width setting of fr3 gripper

[Averykla]

I encountered a problem when I tried to grab a paper box on the table with Franka. Because the weight of the paper box is light, and when I used the robot arm to grab the paper box, the posture of the gripper was not parallel to the paper box, there was an angle. These situations will cause the gripper to tighten and then loosen a short distance when I give it a fixed width to grab, resulting in the paper box not being clamped tightly. I want to ask how can I clamp it if the gripper's grasping posture I give is not aligned with the paper box.

Here is my grasping posture


.

[AndreasKuhner]

Hi @Averykla ,
no easy question. One way would be to try to grasp it with a better orientation?

Maybe you could also try to reduce the width (aka shorter then the box) and then the gripper should continually try to clamp it...?

Cheers,
Andreas