From 3f11b03255525d56627260396bd5338638359f43 Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Sat, 11 Jan 2020 13:13:28 -0800
Subject: [PATCH] add friction anchors for Panda gripper (prevents/reduces
 sliding objects out of gripper)

---
 .../gym/pybullet_data/franka_panda/panda.urdf     | 15 +++++++++++++++
 1 file changed, 15 insertions(+)

diff --git a/examples/pybullet/gym/pybullet_data/franka_panda/panda.urdf b/examples/pybullet/gym/pybullet_data/franka_panda/panda.urdf
index 77a14aeb8..abb3b2edc 100644
--- a/examples/pybullet/gym/pybullet_data/franka_panda/panda.urdf
+++ b/examples/pybullet/gym/pybullet_data/franka_panda/panda.urdf
@@ -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"/>