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Try to also set <mu2> to a higher value. As you had already noticed, I ran in the same issue as you here. Like explained in my post, I think that the description is very misleading because I made some tests and the values seem to make much more sens if they were forces rather than friction coefficients. Furthermore, one would need to know which direction 1 (first friction direction) and with one is direction 2 (second friction direction) as explained here(http://www.ode.org/ode-latest-userguide.html#sec_7_3_7)(http://www.ode.org/ode-latest-userguide.html#sec_7_3_7).

In my task I did the same try, I lifted a tube in z-direction. I did some further tests a few moments ago and it seems, that for such a task, you need to set <mu2> to a higher value rather than <mu1>. In my case, I kept both values high to make the gripping also robust against tilting actions.

To answer that exactly, one would have to know in much more detail, how Gazebo implements the ODE

Try to also set <mu2> to a higher value. As you had already noticed, I ran in the same issue as you here. Like explained in my post, I think that the description is very misleading because I made some tests and the values seem to make much more sens if they were forces rather than friction coefficients. Furthermore, one would need to know which direction 1 (first friction direction) and with one is direction 2 (second friction direction) as explained here(http://www.ode.org/ode-latest-userguide.html#sec_7_3_7)(http://www.ode.org/ode-latest-userguide.html#sec_7_3_7).

In my task I did the same try, I lifted a tube in z-direction. I did some further tests a few moments ago and it seems, that for such a task, you need to set <mu2> to a higher value rather than <mu1>. In my case, I kept both values high to make the gripping also robust against tilting actions.

To answer that exactly, one would have to know in much more detail, how Gazebo implements the ODE

And make sure to increase the value for the links and for the object to grip.

Try to also set <mu2> to a higher value. As you had already noticed, I ran in the same issue as you here. Like explained in my post, I think that the description is very misleading because I made some tests and the values seem to make much more sens if they were forces rather than friction coefficients. Furthermore, one would need to know which direction 1 (first friction direction) and with one is direction 2 (second friction direction) as explained here(http://www.ode.org/ode-latest-userguide.html#sec_7_3_7)(http://www.ode.org/ode-latest-userguide.html#sec_7_3_7).

In my task I did the same try, I lifted a tube in z-direction. I did some further tests a few moments ago and it seems, that for such a task, you need to set <mu2> to a higher value rather than <mu1>. In my case, I kept both values high to make the gripping also robust against tilting actions.

To answer that exactly, one would have to know in much more detail, how Gazebo implements the ODE

And make sure to increase the value for the links and for the object to grip.

Try to also set <mu2> to a higher value. As you had already noticed, I ran in the same issue as you here. Like explained in my post, I think that the description is very misleading because I made some tests and the values seem to make much more sens if they were forces rather than friction coefficients. Furthermore, one would need to know which direction 1 (first friction direction) and with one is direction 2 (second friction direction) as explained here

In my task I did the same try, I lifted a tube in z-direction. I did some further tests a few moments ago and it seems, that for such a task, you need to set <mu2> to a higher value rather than <mu1>. In my case, I kept both values high to make the gripping also robust against tilting actions.

You can also add the <fdir1> tag to specify the first friction direction.

To answer that exactly, one would have to know in much more detail, how Gazebo implements the ODE

And make sure to increase the value for the links and for the object to grip.