Incorrect gripper joint visualisation for Franka Panda
Hi,
I am using the Moveit Setup assistant to generate the inertial tags and manually adding the transmission tags to get a URDF for the Franka Panda to be used in ROS Sharp. ROS Sharp like gazebo requires the inertial and transmission tags to work and Franka ROS doesnt provide such a urdf or xacro which is why I used Moveit setup assistant to generate it.
When using it, the gripper's fingers (prismatic joints) move weirdly although the arm's revolute joints move perfect. I am not sure if this is an issue with the autogenerated URDF from the moveit setup assistant? To inquire if it is an issue with ROS Sharp I have posted an issue for it there.
Here is the urdf generated with MoveIt plus the transmission tags I have added. Also here is an image showing the weird gripper positions
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