URDF file of onrobot rg6 gripper based on the repository of syuntoku14 / fusion2urdf and the step file provided by OnRobot
Visulazition is launched with display.launch
$ roslaunch rg6_gripper_description display.launch
Rviz:
Note:
If the defaulted angle between the adapter and the main body of the gripper has been changed custermlly, update rpy under the joint g_main in rg6_gripper.xacro:
<joint name="g_main" type="fixed">
<origin xyz="-0.031849 1e-06 0.04953" rpy="0 0 0"/>
<parent link="base_link"/>
<child link="g_main_1"/>
</joint>