Separate Galbot fingertip pad and shell friction - #34
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ruziniuuuuu wants to merge 2 commits into
Open
ruziniuuuuu wants to merge 2 commits into
ruziniuuuuu wants to merge 2 commits into
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Signed-off-by: ruziniuuuuu <ruziniuuuuu@gmail.com>
Signed-off-by: ruziniuuuuu <ruziniuuuuu@gmail.com>
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Update the existing Galbot USD geometry and bindings: 1 mm inner pads use static/dynamic friction 1.5/1.5; outer shells use 0.3/0.2. Preserve the collision envelope and gripper opening. No new asset files.
Validation: all 11 Galbot configuration tests, USD geometry/material checks, and Ruff pass.