in gazebo how to Let the three finger gripper open and close

[GDUTwd]

in rviz ，We can control the opening and closing of the gripper through the joint interface，but how can I make the gripper open and close freely in the simulation ,through script or what? I would like to know a more specific detail，thank you.

[AtsukiYokota]

This package is just a wrapper package that is supposed to drive a real gripper, so it doesn't provide an easy way to move the gripper in Gazebo.

but, a simple sample of spawning a gripper into a Gazebo with a ros controller has been published.
Run the following command,

$ roslaunch robotiq_3f_gazebo spawn_robotiq_3f_gripper.launch

and, you can use the rqt_joint_trajectory_controller plugin to move each joint from the GUI.

I don't know the details, but maybe this will help you move the gripper in gazebo from your script, thank you.