Add URDF model for gripper with multiple links and joints

- Created a new URDF file for the gripper, defining its structure.
- Added links: base_frame, plate, screw, craving1, craving2, craving3.
- Defined joints for the gripper's movement, including fixed and revolute joints.
- Included mesh files for visual and collision geometry.
- Set inertial properties for each link with zero mass and inertia.

src/iiwa_bringup/launch/supported/webots_controllers.launch.py

@@ -30,7 +30,7 @@ def _setup_controllers(context, *args, **kwargs):
         executable="spawner",
         output="screen",
         arguments=["joint_state_broadcaster"] + tmo,
-        parameters=[{"use_sim_time": False}],
+        parameters=[{"use_sim_time": True}],
     )
 
     jtc = Node(
@@ -38,7 +38,7 @@ def _setup_controllers(context, *args, **kwargs):
         executable="spawner",
         output="screen",
         arguments=["iiwa_arm_controller"] + tmo,
-        parameters=[{"use_sim_time": False}],
+        parameters=[{"use_sim_time": True}],
     )
 
     torque_controller_spawner = Node(
@@ -47,7 +47,7 @@ def _setup_controllers(context, *args, **kwargs):
         output="screen",
         arguments=["forward_torque_controller",
                    "--inactive"] + tmo,
-        parameters=[{"use_sim_time": False}]
+        parameters=[{"use_sim_time": True}]
     )
 
     spawner_urdf = URDFSpawner(

src/iiwa_bringup/launch/supported/webots_spawn.launch.py

@@ -34,7 +34,7 @@ def _spawn_setup(context, *args, **kwargs):
         parameters=[
             {
                 "robot_description": description,
-                "use_sim_time": False,
+                "use_sim_time": True,
                 "set_robot_state_publisher": False,
             },
             controller,