My robot fails to grasp [an
object] with [a gripper]. Why —
contact geometry, friction, pose
uncertainty — and propose two
mechanical changes and one
software change.

Why This Grasp Keeps Failing

Splits the fix between the gripper and the code.

Prompt

My robot keeps failing to grasp [describe the object] with [describe the gripper]. Analyse why — contact geometry, friction, uncertainty in pose — and propose two mechanical changes and one software change.