Hi everyone,The 3-Finger robot hand from Robotiq has a complete software package available on ROS. The ROS Industrial software package for the 3-Finger robot hand is hosted on GitHub under the “robotiq_s_model_control” designation.This ROS package can be used to control the S-Model through a driver node. Simple commands can be sent via the controller, like opening and closing the hand with a certain speed and strength. The gripper can also receive command to close or open to a precise position. One of the four modes of the gripper (basic, pinch, wide, and scissor) can also be chosen via the controller. The package also contains a node to listen and interpret the status of the gripper, called the status listener node. The package can be modified to send custom commands as your application needs to.You can find enclosed to this publication the updated tutorial for the S-Model.If you have any suggestions/comments for the tutorial, let me know and I'll be glad to make the change.