Refactor URDF and launch files for iiwa robot

- Updated gripper macros in gripper_macros.xacro to simplify parameters and add Gazebo support.
- Removed unused mesh property in gripper_meshes.xacro.
- Enhanced iiwa7 digital and FRI URDF files with simulation arguments and improved controller setup.
- Added new launch files for Gazebo simulation and universal launch configuration.
- Implemented YAML parameter wrapping for ROS2 in converter.py.
- Introduced a new gz_bridge.yaml configuration for Gazebo to ROS2 topic mapping.
- Cleaned up setting_loader.py and added necessary imports.

src/iiwa_utils/iiwa_utils/converter.py

@@ -1,3 +1,6 @@
+import yaml
+import tempfile
+
 from pathlib import Path
 from typing import Dict, Optional, Union
 
@@ -23,3 +26,13 @@ def load_robot_description(
         return model_path.read_text(encoding="utf-8")
 
     raise FileNotFoundError(f"Supported file formats: .xacro/.urdf, got: {model_path}")
+
+
+def wrap_for_ros2_params(yaml_path: str, namespace: str) -> str:
+    with open(yaml_path, "r") as f:
+        data = yaml.safe_load(f)
+    wrapped = {namespace: {"ros__parameters": data}}
+    tmp = tempfile.NamedTemporaryFile(mode="w", suffix=".yaml", delete=False)
+    yaml.dump(wrapped, tmp, default_flow_style=False)
+    tmp.close()
+    return tmp.name

src/iiwa_utils/iiwa_utils/setting_loader.py

@@ -229,3 +229,5 @@ def build_settings(settings_path: str, check_files: bool = True) -> Settings:
         assert_file(s.controller.moveit.moveit_cpp, "controller.moveit.moveit_cpp")
 
     return s
+
+