Implementation of vacuum suction using vacuum gripper

[mazik1496]

Hello. I'm in the process of implementing vacuum suction by referring to some of the open sources here. I referenced a lot in urdf, gazebo's xacro, and node files, but the object should stick to the wall, but it keeps falling off. I'll give you the attached file, can you take a look? I'd like to attach the source code, but it's too many, so I'm attaching the package files I'm working on.

wallclimb.zip

The parts to look at are:
climbbot.urdf.xacro
climbbot.gazebo.xacro
climbbot_gripper.py
wall_test1.launch (gazebo executable file)