I solved it: Joints of gripper free in gazebo

[DannyAvilaL]

          I solved it:

There are two ways to go about it. Do the following for panda_arm_hand and panda_hand groups. I am explaining here panda_hand group for reference.

Solution 1 Under /catkin_ws/src/panda_simulation/config/panda_control.yaml there are panda_finger_joint1 and panda_finger_joint2 under _panda_handcontroller: Remove the panda_finger_joint2 as we are mimicking joint1. Make sure that /your_moveit_package/config/ros_controllers.yaml also has the same names as in panda_control.yaml

This might cause a different error as discussed here

Solution 2 Do not mimic joints but treat them as separate active joints. For that go to /catkin_ws/src/franka_ros/franka_description/robots/hand.xacro and remove the mimic element under panda_finger_joint2 Also go to /your_moveit_package/robots/hand.urdf and remove the mimic element under panda_finger_joint2

Check for any additional hand.urdf or srdf files that gazebo is dependent on and remove the mimic element or the word passive for panda_finger_joint2 thus treating it as an independent joint

_Originally posted by @venkateshsripada in https://github.com/erdalpekel/panda_simulation/issues/20#issuecomment-691627697_

[DannyAvilaL]

Used Solution 1 for this repository