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add friction anchors for Panda gripper (prevents/reduces sliding objects out of gripper)

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Erwin Coumans
2020-01-11 13:13:28 -08:00
parent 8f8bbbee3b
commit 3f11b03255
1 changed files with 15 additions and 0 deletions
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15
examples/pybullet/gym/pybullet_data/franka_panda/panda.urdf
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@@ -253,6 +253,13 @@
</collision>
</link>
<link name="panda_leftfinger">
<contact>
<friction_anchor/>
<stiffness value="30000.0"/>
<damping value="1000.0"/>
<spinning_friction value="0.1"/>
<lateral_friction value="1.0"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0 0.01 0.02"/>
<mass value="0.1"/>
@@ -272,6 +279,14 @@
</collision>
</link>
<link name="panda_rightfinger">
<contact>
<friction_anchor/>
<stiffness value="30000.0"/>
<damping value="1000.0"/>
<spinning_friction value="0.1"/>
<lateral_friction value="1.0"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0 -0.01 0.02"/>
<mass value="0.1"/>