Gripper modification

[JemuelStanley47]

1. Explore options for increasing the contact surface of the gripper fingers:

• 3D Print a 'trapezoidal' fixture to occupy the volume enclosed by the inverted U gripper pad structure
• Talk to Nima's lab members for their help/input from someone who has a mechanical background

2. Compliant fixture at the tip of the grippers to allow scooping

• Talk to Nima's lab members for their help/input from someone who has a mechanical background

[JemuelStanley47]

Gripper .obj and complete .urdf file obtained from RobotStateClient.