panda_left/rightfinger is partial/missing because there are too many contacts!

[scy-v]

Describe the bug
Hello, when using frankapanda for joint velocity control, I get a warning like "panda_right/leftfinger is missing/partial because there are too many contacts!" as soon as the gripper touches the object in sticky mode. This causes the arm joints to move weirdly, and the joint velocity control doesn't work as expected. Also, if the gripper successfully grabs the object, the moment it makes contact, the end effector starts shaking weirdly, like it's being affected by the object.

To Reproduce
Below is the code for performing the gripper action:
action_panda = {}
gripper_command = np.float32(0)
action = torch.tensor([0, 0, 0, 0, 0, 0, 0, 0, 0], dtype=torch.float32)
action = action.cpu().numpy() * vel_scale
action_panda[self.robot.name] = np.append(action[:-2], gripper_command)
self.og_env.step(action_panda[self.robot.name])

Expected behavior
After the robot reaches the target position with joint velocity control and the gripper command is executed, the robot should perform the new action with the updated joint velocity command. However, after executing the gripper command, a warning appears and the robot arm starts moving erratically.

Screenshots

Desktop (please complete the following information):

• OS: [Ubuntu 20.04]
• Isaac Sim Version [4.1.0]
• OmniGibson Version [1.1.1]

[hang-yin]

Hi @scy-v , thanks for reporting this!
Do you mind changing this method:
https://github.com/StanfordVL/OmniGibson/blob/255a4e4fb42fa4d2f1a43a94de37085474db4377/omnigibson/utils/usd_utils.py#L514
To:

    @classmethod
    def get_max_contact_data_count(cls):
        return len(cls.get_column_filters()[0]) * 128

And see if this helps?