On franka robots, the gripper is not controlled via the SoT. As a consequence,
the configuration vector is of dimension 7, while the dynamic entity reads the
model via ROS and expects a position input signal of dimension 8: (7 arm
joints + 2 gripper joints - 1 mimic joint).
On franka robots, the gripper is not controlled via the SoT. As a consequence, the configuration vector is of dimension 7, while the dynamic entity reads the model via ROS and expects a position input signal of dimension 8: (7 arm joints + 2 gripper joints - 1 mimic joint).