How should I set the stiffness and damping parameters in my case?

Autonomous Machines Robotics - Isaac Isaac SDK
1

Hi,

I have attached a robotiq_3f_gripper to a UR-10 robot in my simulation.

robot
robot982×559 65.6 KB

I wanna to control the UR10 with position mode and control the gripper with joint velocity in my code. Thus, how shoud I set the ‘stiffness’ and ‘damping’ in my case. Here is my USD file.
ur10_3f.usd (20.0 KB)