Newton Subsea Gripper in Gazebo and ROS2

Hi :wave:
I’m currently trying to add the Newton Subsea Gripper to my simulation in ROS2 and Gazebo for my master thesis.
I couldn’t find an urdf file for the gripper or a guide or something to add it to Gazebo and to be able to grab something with it.

I am fairly new to Gazebo, and to using robot arms and grabbing objects with them so I was hoping that someone already tried and could provide some help or tips :slight_smile:

Any sort of help would be greatly appreciated :slight_smile: