simple pybullet Panda robotic arm grasping example

pip3 install pybullet --user
python3 -m pybullet_robots.panda.loadpanda_grasp
Shows (1) how to perform a stable grasp, (2) keep fingers centered using a gear constraint (3) create an ffmpeg video
Franka Panda has 'friction_anchor' enabled in the URDF to improve grasp stability. See implementation here:

example