Update arm gripper to new gripper synced with UMI data collection device

[wilsonchenghy]

Goal

Replace the current arm gripper with a new gripper design that is mechanically compatible/synced with the UMI (Universal Manipulation Interface) data collection device, so demonstrations collected with UMI transfer directly to the real arm.

Scope (Mechanical)

• Design/source the new gripper matching UMI's form factor and actuation interface.
• CAD the gripper and integrate it onto the existing arm model.
• Verify mounting, cabling/actuation, and range of motion match what's needed for UMI-collected trajectories to replay correctly.
• Update the URDF/CAD assemblies referencing the old gripper.

Due date

No response