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How to control the object moving with the PR2 gripper in the simulator.

Dear All. I want to know is there a method that we can get the position of the PR2 gripper, and we use this position information to set the object to follow the gripper. It is a fake object manipulation, just we name it as grab function.
The function is we can set the object is attached with the gripper, and when we move the gripper, the object is also moved. When we want to release the object, we just set the un grab the object and the gripper. It is a fake manipulation. But it is useful for demostration. Best regards. Zhenli