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Launching robotiq 2f85 gripper

We are struggling to find the proper command to launch the gazebo simulation for the robotiq 2f85 gripper. We have found the following GitHub repositories:

https://github.com/beta-robots/robotiq/tree/master/robotiq_2f_model https://github.com/StanleyInnovation/robotiq_85_gripper

We have successfully launched the visualizations in RViz but have not been able to launch the simulation in Gazebo. Any help would be greatly appreciated