Friction grasp on a composite cable with a parallel-jaw gripper — anyone got a working example?

[rotematari]

Trying to pinch and lift a <composite type="cable"> segment with two parallel-jaw grippers (Robotiq 2F-85 from Menagerie, attached via MjSpec). I want a real friction grasp, not a <weld> / <equality><connect> shortcut, because downstream I need the pad contacts to produce a real normal-force field for tactile observation.

Spent a while looking for a public example before posting and couldn't find one that actually does this. The closest matches all sidestep the friction grasp:

• The official cable example (model/plugin/elasticity/cable.xml) welds one endpoint to a payload.
• ian-chuang/homestri-ur5e-rl advertises "UR5e + 2F-85 + flexible objects", but the cable has condim="1" and both ends are welded to walls. The gripper pushes a taut wire; it doesn't grasp it.
• Issue Gripping of Cable by Fin Gripper #677 ("Gripping of Cable by Fin Gripper") had the same goal, hit slip, and closed without a solution.
• Issue Grasping cloth object using Franka gripper #1480 (cloth + Franka) tried friction="2 0.05 0.0001" condim=4 and gave up.
• The bimanual cable insertion demo from How to reproduce bimanual cable insertion task uploaded to Youtube #669 was never open-sourced.

Three things I'd love help with:

1. Is there a public repo I missed where a parallel-jaw gripper actually friction-grasps a composite cable?
2. For the fingertip↔cable contact: what combinations of condim, friction, solref/solimp, cone, impratio, noslip_iterations actually hold a cable under gravity? Most existing advice is rigid-body specific.
3. Does the cable plugin's bending/twist torques fight a static pinch in ways worth designing around (locally softer bend, more iterations, sub-stepping)?

For context — what I got working after some trial and error: gravity-gated "establish grasp" phase plus B2 contact compliance, friction grasp holds at ~1.1 N per gripper on a 62-joint cable, no weld. Happy to share the XML, and to put up a small docs PR against cable.xml showing a worked friction-grasp example if maintainers think it'd help.

Thanks!