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Hello @takti,

You just have to add in your URDF including your link, join. Then you have to upload that urdf file into your moveit and configure your gripper into the moveit. Rest think will be handle by your moveit.

Hello @takti,

You just have to add in your URDF including your link, join. Then you have to upload that urdf file into your moveit and configure your gripper into the ~~moveit. Rest think will be handle by your moveit.~~ moveit.

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