Update Robotiq gripper models 85 and 140 #435
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based on model in mujoco_menagerie
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Hi!
Similarly to #278 I noticed that the Robotiq grippers 85 and 140 were working kind of awkwardly. Especially the gripper Robotiq 140 was not even closing properly without any contact interaction.
Considering the newer approach to simulating the gripper Robotiq 85 proposed by mujoco_menagerie looks much better, I updated the models of both grippers.
The motion of both grippers seems considerably better in preliminary tests and their non-slip grasp seems better too. The improvement is much more clear on the gripper 140.
Comparison
Robotiq gripper 85
Robotiq gripper 140