# Controlling the robotiq_85_gripper (2-fingered gripper) in a Gazebo simulation

Hello all,

I am trying for some time now to control (open/close) the two fingered robotiq_85_gripper, as it is described in ( https://github.com/DualUR5Husky/robot... ) but augmented with the transmissions and inertial described in ( https://github.com/waypointrobotics/r... ). The problem is that I am not sure how to transmit open - close commands in a Gazebo 7 environment. Do I need an extra plugin to transmit commands to the controllers? I found the following package: ( https://github.com/DualUR5Husky/robot... ), but it doesn't seam to do anything.