[Feature] Fake Gripper Option in SSoT

[anhle5]

Fake Gripper Option in SSoT

Summary

Added an option to use fake_hardware for gripper through Robotiq's natively supported fake hardware mode

Motivation and Context

Simulation support for Geodude via RVIZ was lacking. This allows users to test their teleoperation method(s) without the real robot while still providing an accurate visual representation of the robot's movements.

Testing Set-up and Environment

This PR has been tested on a Ubuntu 22.04 computer with Python 3.10 in a Conda environment with the following packages:

# Name                     Version          Build            Channel
_libgcc_mutex              0.1              main
_openmp_mutex              5.1              1_gnu
bzip2                      1.0.8            h5eee18b_6
ca-certificates            2025.11.4        h06a4308_0
catkin-pkg                 1.1.0            pypi_0           pypi
contourpy                  1.3.2            pypi_0           pypi
cycler                     0.12.1           pypi_0           pypi
docutils                   0.22.3           pypi_0           pypi
empy                       3.3.4            pypi_0           pypi
evdev                      1.9.2            pypi_0           pypi
expat                      2.7.3            h3385a95_0
fonttools                  4.60.1           pypi_0           pypi
keyboard                   0.13.5           pypi_0           pypi
kiwisolver                 1.4.9            pypi_0           pypi
lark                       1.3.1            pypi_0           pypi
ld_impl_linux-64           2.44             h153f514_2
libffi                     3.4.4            h6a678d5_1
libgcc                     15.2.0           h69a1729_7
libgcc-ng                  15.2.0           h166f726_7
libgomp                    15.2.0           h4751f2c_7
libnsl                     2.0.0            h5eee18b_0
libstdcxx                  15.2.0           h39759b7_7
libstdcxx-ng               15.2.0           hc03a8fd_7
libuuid                    1.41.5           h5eee18b_0
libxcb                     1.17.0           h9b100fa_0
libzlib                    1.3.1            hb25bd0a_0
matplotlib                 3.10.7           pypi_0           pypi
mpmath                     1.3.0            pypi_0           pypi
ncurses                    6.5              h7934f7d_0
numpy                      2.2.6            pypi_0           pypi
openssl                    3.0.18           hd6dcaed_0
packaging                  25.0             pypi_0           pypi
pillow                     12.0.0           pypi_0           pypi
pip                        25.3             pyhc872135_0
pthread-stubs              0.3              h0ce48e5_1
pynput                     1.8.1            pypi_0           pypi
pyparsing                  3.2.5            pypi_0           pypi
pyquaternion               0.9.9            pypi_0           pypi
python                     3.10.19          h6fa692b_0
python-dateutil            2.9.0.post0      pypi_0           pypi
python-xlib                0.33             pypi_0           pypi
readline                   8.3              hc2a1206_0
ruamel-yaml                0.19.1           pypi_0           pypi
scipy                      1.15.3           pypi_0           pypi
setuptools                 80.9.0           py310h06a4308_0
six                        1.17.0           pypi_0           pypi
sqlite                     3.51.0           h2a70700_0
sympy                      1.14.0           pypi_0           pypi
tk                         8.6.15           h54e0aa7_0
tzdata                     2025b            h04d1e81_0
wheel                      0.45.1           py310h06a4308_0
xorg-libx11                1.8.12           h9b100fa_1
xorg-libxau                1.0.12           h9b100fa_0
xorg-libxdmcp              1.1.5            h9b100fa_0
xorg-xorgproto             2024.1           h5eee18b_1
xz                         5.6.4            h5eee18b_1
zlib                       1.3.1            hb25bd0a_0

Known Limitations

This has only been tested for Robotiq 2F-140. Modifications will be required for additional grippers, especially if they do not already have a fake hardware option

Testing Steps for Reviewers

Set fake_hardware to 'false' for one or more of the grippers in the SSOT.yaml and launch the robot as usual. View rviz to see if the simulated robot is moving as expected based on teleoperation controls.