Hello, I am currently trying to pick up an object using a pinch gripper, and the object keeps slipping through the grip. Right now I’ve simplified the problem to using two simple block shapes to pick up a third block by simply applying a horizontal force to the side of the target block when picking it up. The block moves upward with the gripper, however it will slip out of the gripper when the frictional forces should be able to overcome gravity. Additionally, in the case that this is unpractical to do, is it possible to use mocap points to simulate picking up the rope by essentially “welding it” to the gripper manually through the mocap points? Thanks!