diff --git a/robots/panda_arm_hand.urdf.xacro b/robots/panda_arm_hand.urdf.xacro index 65ac6b9fa17f55ffe5c22b90f4547293c575757a..3353853c09bb9959c1ad92263660953d7ba0710a 100644 --- a/robots/panda_arm_hand.urdf.xacro +++ b/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>