Hi, I'm working with shadow robot in the smart-grasping-sandbox package available in this link https://github.com/shadow-robot/smartgraspingsandbox and managed to change the code in fh_desc to spawn only the hand with gazebo. Now, what I want to do is to be able to change the state of the joints, for example create a node that publishes a topic to open/close the fingers.

Any tip in how should I do it? Which topic should I use?