For an application where a manipulator picks up a cylinder I have created a primitive gripper with a ROS SimpleTransmission and EffortJointInterface. The Gazebo model for the cylinder comes from an STL file. This is using Gazebo 9 and ROS Kinetic. In Gazebo the gripper can push the cylinder around but it does not pick it up; the cylinder just slides through the gripper as shown in the animation.
I've changed the friction coefficients in both the gripper urdf and the cylinder sdf to 99999.9. I also reduced the mass of the cylinder. The effort limit on the joint I set to 999999.9, just to try to get it to grip really hard.
Part of the gripper urdf and the entire cylinder sdf are pasted below the animation. Can you tell me what I need to do to get a gripper to pick up this object?
**Part of gripper urdf**
transmission_interface/SimpleTransmission hardware_interface/EffortJointInterface hardware_interface/EffortJointInterface 1 99999.9 99999.9 0 0 0 0 -0 0 0 0 0.14605 0 -0 0 0.1 0.0161005 5.1652e-35 5.85205e-35 0.0161005 5.04266e-19 0.0135779 99999.9 99999.9 0.001 0 0 0 1.5708 -0 0 1 1 1 model://Cone100/meshes/Cone100.STL 0 0 0 1.5708 -0 0 1 1 1 model://Cone100/meshes/Cone100.STL
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