Hi, what is the best way to program the combination UR16e + 2F-85? I have successfully programmed the gripper from the teaching pendant with URCap nodes, however I want to explore python or c++ programming. I have also successfully programmed the arm via https://gitlab.com/sdurobotics/ur_rtde.The questions I have are:According to UR's training https://academy.universal-robots.com/modules/e-Series%20core%20track/English/module2/story_html5.html?courseId=2165 , the gripper could be controlled by setting the digital output on the teaching pendant. This doesn't seem to work for 2F-85. Is this because this gripper requires the more complex API (rGTO and other vars), and the digital output is simply ignored or not connected?What are the main differences between connecting (from a unix machine) directly to the gripper (via port 63352) to send UR commands to the gripper, and connecting to the RTDE interface (via port 30004) so that a UR script running on the robot communicates with the gripper?I have considered:a) Uploading recipes directly following rtde-2.3.6's examples, and proper functions to the uploaded URScript (to mimic Robotiq's URScript), and use Python:https://www.universal-robots.com/how-tos-and-faqs/how-to/ur-how-tos/real-time-data-exchange-rtde-guide-22229/https://dof.robotiq.com/discussion/comment/3840 (the gripper script, similar to the one available in the teaching pendant)b) Adding recipes to SDU's RTDE wrapper, and proper functions to the uploaded URScript (to mimic Robotiq's URScript), and use either C++ or Python:https://gitlab.com/sdurobotics/ur_rtdehttps://dof.robotiq.com/discussion/comment/3840 (the gripper script, similar to the one available in the teaching pendant)c) Connecting directly to the gripper, and using URX to upload URScript commands directly to the gripper?? I am unsure whether this also requires uploading the URCaps script to the gripper, or whether by connecting directly instead of through the controller the URCaps' functions are available as commands:https://github.com/SintefManufacturing/python-urxd) Connecting directly via MODBUS RTUhttps://dof.robotiq.com/discussion/1382/control-grippers-from-python-using-modbus-rtuhttps://dof.robotiq.com/discussion/92/controlling-the-robotiq-2-finger-gripper-with-modbus-commands-in-python?_ga=2.17431289.1133307955.1542044765-1547192274.1535646624e) This unclear method through rs485 (looks similar to MODBUS RTU as stated in option 'd'):https://dof.robotiq.com/discussion/1926/python-module-for-control-robotiq-2f-85-from-external-ubuntu-pcAm I missing something?- - - -To summarize the questions:Q1) Why does digital output seem to have no effect on 2f-85, even though the teaching pendant / URcaps works?Q2) What are the main differences between connecting directly to the gripper (via port 63352) vs connecting to the RTDE interface (via port 30004) and have the controller talk to the gripper?Q3) I have listed several options, are there any pros/cons for either I should be aware of?Thanks,Sam.