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There is the possibility to use Weblogic to control the RG2 gripper. It's described in this post from the UR Forum. Nevertheless, this solutions is a bit complicated, because a signal has to be predefined for each width/force combination. Isn't there a better solution? I would be grateful for some help with a similar question: Control and read sensors of OnRobot RG2-FT gripper mounted to a UR5 robot arm using ROS2

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