MyCobot Adaptive Gripper (or custom gripper) implementation

[dirksavage88]

Has anyone used this repo with the official MyCobot adaptive gripper? Or a custom gripper?

To my knowledge the mycobot gripper is just a servo with encoder feedback (see: https://github.com/elephantrobotics/MyCobotBasic/blob/bd937c656f252141a02aea1ac3b02cb07a1b43cd/MyCobotBasic.h#L145)

But I am guessing the same functionality can be implemented with a servo exposing the position feedback? https://www.pololu.com/product/3436

I am pretty new to moveit and such, so I am not sure what the easiest way to implement the gripper in a moveit pipeline would be and what signals the hardware needs to expose to get good gripper functionality.