Example of how to read contact forces during a grasp with the Franka Panda hand model from the MuJoCo Menagerie. The original MJCF was adapted slightly:
- control range changed from [0, 255] to [0, 0.045]
- fingers close independently (removed tendons and equality constraint)
- add names for the finger's collision pads
- add visuals, e.g. the ground plane, and lighting
- add grasping object
Run franka.py.
If with_vis=False, the grasp is executed and the resulting force trajectory is plotted.
Set it to True to see the grasp.
On the oscillations branch of this repo lies a version of the gripper producing unstable contact force readings during the grasp.