use jennifer buehlers grasp fix

robots/panda_arm_hand.urdf.xacro

@@ -16,4 +16,22 @@
   <xacro:panda_gazebo robot_name="$(arg robot_name)" />
   <xacro:panda_transmission robot_name="$(arg robot_name)" load_hand="true" />
   <!-- end for simulation -->
+
+  <gazebo>
+    <plugin name="gazebo_grasp_fix" filename="libgazebo_grasp_fix.so">
+      <arm>
+        <arm_name>panda_arm</arm_name>
+        <palm_link> panda_link7  </palm_link>
+        <gripper_link> panda_rightfinger </gripper_link>
+        <gripper_link> panda_leftfinger </gripper_link>
+      </arm>
+      <forces_angle_tolerance>100</forces_angle_tolerance>
+      <update_rate>4</update_rate>
+      <grip_count_threshold>4</grip_count_threshold>
+      <max_grip_count>8</max_grip_count>
+      <release_tolerance>0.005</release_tolerance>
+      <disable_collisions_on_attach>false</disable_collisions_on_attach>
+      <contact_topic>__default_topic__</contact_topic>
+    </plugin>
+  </gazebo>
 </robot>