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I fixed this issue by cloning the older groovy-dev branch of schunk_robots, then used the lwa.urdf.xacro in schunk_hardware_config to create the new URDF

This fixes the issue of the arm orientation, next edit the "rpy" values of the grippers orientation in the lwa.urdf.xacro to solve the grippers orientation issues. Rerun the commands to make another "fixed" URDF.

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