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Grasping in gazebo is actually quite tough. With most robots I know of that worked in gazebo at some point (PR2, UBR-1), the forces applied to the gripper fingers were absurd (read: nowhere near what they were in reality). If i recall correctly, the PR2 gripper uses like 500N, and the UBR-1 was set to 2x the real-world max. The mu values were also absurd, something like 30.0 for the UBR fingers. The git history on the ubr1_preview repo might be of help -- John Hsu and I spent an enormous amount of time making things actually work.