Add gripper to Kinova Gen3 Robot

Author: jhavl

roboticstoolbox/models/URDF/KinovaGen3.py

@@ -41,7 +41,7 @@ def __init__(self):
             manufacturer="Kinova",
             urdf_string=urdf_string,
             urdf_filepath=urdf_filepath,
-            # gripper_links=elinks[9]
+            gripper_links=links[10],
         )
 
         # self.qdlim = np.array([
@@ -58,3 +58,14 @@ def __init__(self):
 
     robot = KinovaGen3()
     print(robot)
+
+    from swift import Swift
+
+    env = Swift()
+    env.launch()
+    env.add(robot)
+    env.hold()
+
+    for link in robot.links:
+        print("\n")
+        print(link.isjoint)

rtb-data/rtbdata/xacro/kortex_description/grippers/robotiq_2f_85/urdf/robotiq_2f_85_macro.xacro

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <robot name="robotiq_arg2f_85_model" xmlns:xacro="http://ros.org/wiki/xacro">
   <xacro:macro name="load_gripper" params="parent prefix">
-    <xacro:include filename="$(find kortex_description)/grippers/robotiq_2f_85/urdf/robotiq_arg2f_85_model_macro.xacro" />
+    <xacro:include filename="../grippers/robotiq_2f_85/urdf/robotiq_arg2f_85_model_macro.xacro" />
     <xacro:robotiq_arg2f_85 parent="${parent}" prefix="${prefix}"/>
   </xacro:macro>
 </robot>

rtb-data/rtbdata/xacro/kortex_description/grippers/robotiq_2f_85/urdf/robotiq_arg2f_85_model_macro.xacro

@@ -168,7 +168,7 @@
     </joint>
   </xacro:macro>
 
-  <xacro:include filename="$(find kortex_description)/grippers/robotiq_2f_85/urdf/robotiq_arg2f.xacro" />
+  <xacro:include filename="./robotiq_arg2f.xacro" />
 
   <xacro:macro name="finger_joint" params="prefix">
     <joint name="${prefix}finger_joint" type="revolute">

rtb-data/rtbdata/xacro/kortex_description/robots/gen3.xacro

@@ -7,7 +7,7 @@
     <xacro:arg name="dof" default="7" />
     <xacro:arg name="vision" default="false" />
 
-    <xacro:arg name="gripper" default="" />
+    <xacro:arg name="gripper" default="robotiq_2f_85" />
 
     <xacro:arg name="sim" default="false" />
     <xacro:arg name="prefix" default="" />