I don’t think that is implement yet, but I am not completely sure. Sorry if I am wrong.
Since we are developing an URCap for our end-effector, we are interested in the ability of visualizing the device on ursim during the simulation of a given task. It is a bit annoying to “imagine” the end-effector attached to the UR arm without visualize its actual encumbrance. I mean something like visualizing an URDF in ROS, with meshes and the stuff.
Alessandro Tondo @qbrobotics