Added the urdf models, based on the STL files, for the three basic grippers that come with the Niryo arm.
For grippers 1 and 2 also the controllers work so that you can open/close the grippers using the Python script under the scripts folder. You will see the gripper opening/closing both in Rviz and Gazebo the movements. Gripper 3 can be used for visual representation and collision avoidance. The joints are fixed (for the moment) as the angles between the links require a bit more of work when opening the gripper.
The project includes also the updates to the srdf file for disabling the collision for the gripper links.
Launching the Gazebo simulation, now also starts the Rviz environment with gripper 2 as default.
Added the urdf models, based on the STL files, for the three basic grippers that come with the Niryo arm. For grippers 1 and 2 also the controllers work so that you can open/close the grippers using the Python script under the scripts folder. You will see the gripper opening/closing both in Rviz and Gazebo the movements. Gripper 3 can be used for visual representation and collision avoidance. The joints are fixed (for the moment) as the angles between the links require a bit more of work when opening the gripper. The project includes also the updates to the srdf file for disabling the collision for the gripper links. Launching the Gazebo simulation, now also starts the Rviz environment with gripper 2 as default.