Implemented gripper functionality for Franka dual arm sim. #414
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marioprats
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Implemented gripper functionality for Franka dual arm sim.
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Issues
https://github.com/PickNikRobotics/moveit_pro/issues/14308
https://github.com/PickNikRobotics/moveit_pro/issues/14309
Description
In this PR I implemented Franka dual arm gripper functionality, including iMarker and Pose Jog.
I added the following objectives:
I also updated the Writing Demo objective to use the new Switch Controller behavior and to position the writing to the tip of the robot frame.