[Simulation] Gripper gets stuck when arm moves first.

[Jelmerdw]

Description

When moving the arm in simulation before sending a gripper command can result in the gripper becoming stuck. Gripper commands pretend to be successful, but the gripper is not moving anymore.

Steps to Reproduce

1. Start Franka simulation with gripper.
2. Move the arm:

ros2 action send_goal /franka/fr3_arm_controller/follow_joint_trajectory control_msgs/action/FollowJointTrajectory '{trajectory: {joint_names: [fr3_joint1, fr3_joint2, fr3_joint3, fr3_joint4, fr3_joint5, fr3_joint6, fr3_joint7], points: [{positions: [0.15, -0.39, 0.1, -2.06, 0.0, 1.68, 1.10], time_from_start: {sec: 3}}]}}'

3. Try to open the gripper, it might not work:

ros2 action send_goal /franka/gripper/open rcdt_interfaces/action/TriggerAction {}

Expected Behavior

What you expected to happen instead.

Additional Context

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