Hi at all,

currently I'm trying to simulate a simple grasping task in Gazebo using the Yumi package provided by the KTH (https://github.com/kth-ros-pkg/yumi). Everything seems to work until the Robot grasps and lifts a simple box. The box starts to slide slowly out of the gripper. Most times it slides down in z-direction, but sometimes also sideways. So far i tried to change the settings for mu1 and mu2 and fdir1 of the box and Yumis grippers. It seems to have an effect on the simulation when i raise mu1 and mu2, but its not enough to stop the Box from sliding. When I raise the values to high ( > 15) the object behaves strange an starts jumping around. Ive read in another forum that changing to effort control might be a solution for for this problem, but I'm not sure how to change that setting (I just started to work with ROS/Gazebo).

Thank you in advance for your help