Refine gripper behavior in Gazebo Harmonic (Pick & Place) #652
Description
During the migration of the Pick & Place exercise to Gazebo Harmonic, the current gripper implementation works functionally but still requires refinement.
The grasp is currently based on:
- Gripper position control through gripper_controller.
- Physics-based contact interaction in Gazebo Harmonic.
- Link attacher service to ensure stable attachment/detachment.
Although the exercise works as expected, the current grasping implementation can be further improved in terms of robustness and physical consistency.