Whenever I try to add the fanuc/Part5_Part6_controller, the whole simulation gets messed up. I don't know where the problem lies. I invite Gazebo developers to debug this problem and make the solution open source.
I intend to make future tutorials on ROS and Gazebo using this model. But I am not sure how and when. If you want to use it for that purpose , please go ahead.
The gripper fingers can't be controlled yet. Because I haven't added their joints to config/fanuc_control.yaml yet. That's my future plan God willing.
The best thing develop on this model is to include Moveit! on this arm. If you think, you can do it, please go ahead.
If you want to contact me on this model, please send me an email to sezan92[at]gmail[dot]com