Hello. I want to use the robotiq 2 finger 85 gripper in the gazebo simulator with ROS and the Sawyer robot. I can control sawyer in gazebo but I’m not sure how to control the gripper. Any starting points / tutorials for me to follow? I would like to do this all in simulation without the involvement of the actual (real-life) robot and gripper. I just need the gripper to open and close. Thank you.