I'm starting a project of a franka arm with a qb2 soft hand as the EEF. I'm creating a moveit configuration package using the moveit setup assistant.

I've created the following URDF file to create the robot:

<?xml version="1.0"?>
<robot name="qbhand" xmlns:xacro="http://www.ros.org/wiki/xacro">

    <!-- Import the Franka arm -->
    <xacro:include filename="$(find franka_description)/robots/common/franka_arm.xacro" />
    <xacro:franka_arm arm_id="panda" safety_distance="0.03" gazebo="false" joint_limits="${xacro.load_yaml('$(find franka_description)/robots/panda/joint_limits.yaml')}"/>

    <!-- Create a link and a joint to connect the last link of the panda arm with the base of the qb hand -->
    <link name="panda_qb_link"/>

    <joint name="fixed" type="fixed">
        <parent link="panda_link8"/>
        <child link="panda_qb_link"/>
    </joint>  

    <!-- Import the QB Hand and connect it to the created link -->
    <xacro:include filename="$(find qb_hand_description)/urdf/qbhand.utils.xacro"/>
    <xacro:build_hand_2m_from_yaml configuration="qbhand_right" namespace="qbhand2m" parent="panda_qb">
        <origin xyz="0 0 0" rpy="0 0 0"/>
    </xacro:build_hand_2m_from_yaml>

</robot>

The problem is that I can only control the synergy joint of the move group for the qb hand. I think that I should be able to control the joints for the two motors, but when I change their values nothing happens. Only the synergy joint makes the hand move.

Does anyone know if there are some instructions on how to configure the qb soft hand 2 using moveit?