Cylinder oscillates after placing

Thanks for your response.
We will investigate this topic in more detail.

With respect to the cylinder, we have seen several weird issues during the last tests we are performing right now in task4_v2_2. Despite centering the gripper perfectly around the cylinder without any physical contacts, the cylinder is quite often magically pulled into the direction of the closest jaw. Moreover, we have also seen one case where the gripper closed through the cylinder and the cylinder stayed in a tilted position that didn't make any physical sense.

We know that things can not be changed in the simulation right now, but maybe you can have close look at this issue during the evaluation.