gazebo-pkgs: GazeboGraspGripper: Palm link ee_link not found. The gazebo grasp plugin will not work.

Hi JenniferBuehler,

Thanks for creating GazeboGraspFix plugin. I’m trying to use it with UR5 arm and RobotiQ 85 gripper. But, the object falls as before and I get the following error:

Loading grasp-fix plugin
GazeboGraspFix: Using disable_collisions_on_attach 1
GazeboGraspFix: Using update rate 2
GazeboGraspFix: Using max_grip_count 2
GazeboGraspFix: Using grip_count_threshold 1
GazeboGraspFix: Using release_tolerance 0.005
[Err] [GazeboGraspGripper.cpp:59] GazeboGraspGripper: Palm link ee_link not found. The gazebo grasp plugin will not work.
[Err] [GazeboGraspFix.cpp:173] GazeboGraspFix: Could not initialize arm gripper_arm. Skipping.
[Err] [GazeboGraspFix.cpp:196] ERROR: GazeboGraspFix: Cannot use a GazeboGraspFix because no arms were configured successfully. Plugin will not work.
Loading grasp-fix plugin
GazeboGraspFix: Using disable_collisions_on_attach 0
GazeboGraspFix: Using update rate 4
GazeboGraspFix: Using max_grip_count 8
GazeboGraspFix: Using grip_count_threshold 4
GazeboGraspFix: Using release_tolerance 0.005
GazeboGraspFix: Adding collision scoped name robot::gripper_finger1_finger_tip_link::gripper_finger1_finger_tip_link_collision
GazeboGraspFix: Adding collision scoped name robot::gripper_finger1_inner_knuckle_link::gripper_finger1_inner_knuckle_link_collision
GazeboGraspFix: Adding collision scoped name robot::gripper_finger1_knuckle_link::gripper_finger1_knuckle_link_collision
GazeboGraspFix: Adding collision scoped name robot::gripper_finger1_knuckle_link::gripper_finger1_knuckle_link_fixed_joint_lump__gripper_finger1_finger_link_collision_1
GazeboGraspFix: Adding collision scoped name robot::gripper_finger2_finger_tip_link::gripper_finger2_finger_tip_link_collision
GazeboGraspFix: Adding collision scoped name robot::gripper_finger2_inner_knuckle_link::gripper_finger2_inner_knuckle_link_collision
GazeboGraspFix: Adding collision scoped name robot::gripper_finger2_knuckle_link::gripper_finger2_knuckle_link_collision
GazeboGraspFix: Adding collision scoped name robot::gripper_finger2_knuckle_link::gripper_finger2_knuckle_link_fixed_joint_lump__gripper_finger2_finger_link_collision_1

This is how my gzplugin_grasp_fix.urdf.xacro file looks like:

<?xml version="1.0" encoding="UTF-8"?>
<root 
xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
xmlns:xacro="http://ros.org/wiki/xacro">

<xacro:macro name="gzplugin_grasp_fix">
    <gazebo>
        <plugin name="gazebo_grasp_fix" filename="libgazebo_grasp_fix.so">
            <arm>
                <arm_name>UR5Arm</arm_name>
                <palm_link>wrist_3_link</palm_link>
                <gripper_link>gripper_finger1_inner_knuckle_link</gripper_link>
                <gripper_link>gripper_finger1_finger_tip_link</gripper_link>
                <gripper_link>gripper_finger1_knuckle_link</gripper_link>
                <gripper_link>gripper_finger2_inner_knuckle_link</gripper_link>
                <gripper_link>gripper_finger2_finger_tip_link</gripper_link>
                <gripper_link>gripper_finger2_knuckle_link</gripper_link>
            </arm>
            <forces_angle_tolerance>100</forces_angle_tolerance>
            <update_rate>4</update_rate>
            <grip_count_threshold>4</grip_count_threshold>
            <max_grip_count>8</max_grip_count>
            <release_tolerance>0.005</release_tolerance>
            <disable_collisions_on_attach>false</disable_collisions_on_attach>
            <contact_topic>__default_topic__</contact_topic>
        </plugin>
    </gazebo>
</xacro:macro>
</root>

Here’s a video: https://drive.google.com/file/d/1pvHDf6qhK75cAdyv3fhh6LAzdl0HAG85/view?usp=sharing

You can run it yourself by cloning this repo: https://github.com/gtatiya/Hacking-SotA-UR5 and running:

roslaunch ur5_single_arm_manipulation pick_and_place.launch 
roslaunch ur5_single_arm_manipulation grasp_generator_server.launch 
rosrun ur5_single_arm_manipulation pick_and_place.py

How can I fix this error?