I'm trying to build a simulation in Gazebo for a UR robot along with a Robotiq 2F-140 gripper (ideally with ros-melodic), but when using MoveIt to generate config files for a the robot coupled with the end effector, the robot poses for the gripper planning group don't appear to load correctly. As demonstrated in the gifs below, only the `finger_joint` appears in the group (which includes all the gripper joints).
What is even more confusing is that the first time I try to configure the pose, all of the joints are activated and move into position (not just the `finger_joint`).
Once the pose is saved though, subsequent poses only actuate the `finger_joint`.
Notice that in the planning group, I have more than just the `finger_joint` selected.
Is this expected behavior?
I have tried a number of different combinations including:
- urdf configurations using UR arm models (UR3/5/10) with both the 2f-140 and 2f-85 grippers
- ros-kinetic and ros-melodic
- Ubuntu 18.04 and Ubuntu 16.04
- urdfs that I have created, but also third party examples from tutorials and open source projects
Even with all these variations, I always get the same result, and must be missing something fundamental.
What could cause this to happen, and how do I correctly configure my robot for simulation?
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