This repository contains the URDF for the onrobot 2fg7 gripper. It also has a simple control implementation to be used with gazebo simulator this was developed using the fusion 360 to urdf script and CAD files taken from the onrobot official webpage.

1. Install dependencies (from source):

• grasp fix gazebo plugin

• mimic joint fix plugin

2. Install this package:

cd <your-catkin-ws>/src
git clone https://github.com/juandpenan/onrobot_2FG7_gripper_description
cd ..
catkin build onrobot_2fg7_description

3. Launch:

• Display the gripper with RVIZ:

roslaunch onrobot_2fg7_description display.launch

• Launch gazebo:

roslaunch onrobot_2fg7_description gazebo_control.launch