Hi,
I am using the Moveit Setup assistant to generate the inertial tags and manually adding the transmission tags to get a URDF for the Franka Panda to be used in ROS Sharp. ROS Sharp like gazebo requires the inertial and transmission tags to work and Franka ROS doesnt provide such a urdf or xacro which is why I used Moveit setup assistant to generate it.
When using it, the gripper's fingers (prismatic joints) move weirdly although the arm's revolute joints move perfect. I am not sure if this is an issue with the autogenerated URDF from the moveit setup assistant? To inquire if it is an issue with ROS Sharp I have posted an issue for it [there](https://github.com/siemens/ros-sharp/issues/176).
Here is the [urdf](https://drive.google.com/file/d/1N9QAvoCjonv4m2fsWhjEnsK78c3SAzGJ/view) generated with MoveIt plus the transmission tags I have added. Also [here](https://drive.google.com/file/d/11A8gqhVw5bwIcVgSBlAOjKjBHF5oTNhh/view) is an image showing the weird gripper positions
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