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Check these links out:

  • https://github.com/JenniferBuehler/gazebo-pkgs/wiki/The-Gazebo-grasp-fix-plugin
  • https://osrf-distributions.s3.amazonaws.com/gazebo/api/dev/classgazebo_1_1physics_1_1Gripper.html

^ I think you'd want to do something like this to mate your separate modules. Pretty cool video btw.