A manipulator with gripper for simulation

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I am experimenting with high level manipulation tasks and wish to see the results in simulation. I would like to use Moveit for motion planning and observe the simulated results in Gazebo.

I need some suggestions on manipulators with a simple gripper as its end-effector (2 finger like PR2 will do just fine).

I tried to use a pr2 gripper with ur5 but I think I am not able to get the controllers right. Also the motion planning gets really weird in moveit after adding the gripper.