diff --git a/Project/Levels/RoboticManipulationBenchmark/RoboticManipulationBenchmark.prefab b/Project/Levels/RoboticManipulationBenchmark/RoboticManipulationBenchmark.prefab
index b043d2d..7847ad9 100755
--- a/Project/Levels/RoboticManipulationBenchmark/RoboticManipulationBenchmark.prefab
+++ b/Project/Levels/RoboticManipulationBenchmark/RoboticManipulationBenchmark.prefab
@@ -1143,21 +1143,6 @@
                     "path": "/Entities/Entity_[743054958320]/Components/AZ::Render::EditorMeshComponent/Controller/Configuration/ModelAsset/assetHint",
                     "value": "assets/urdfimporter/1440394708_panda/link5.dae.azmodel"
                 },
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-                    "value": 3.0
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-                    "op": "replace",
-                    "path": "/Entities/Entity_[760234827504]/Components/EditorMeshColliderComponent/ShapeConfiguration/HasNonUniformScale",
-                    "value": true
-                },
-                {
-                    "op": "replace",
-                    "path": "/Entities/Entity_[760234827504]/Components/EditorMeshColliderComponent/HasNonUniformScale",
-                    "value": true
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                 {
                     "op": "replace",
                     "path": "/Entities/Entity_[764529794800]/Components/AZ::Render::EditorMeshComponent/Controller/Configuration/ModelAsset/assetHint",
@@ -1173,11 +1158,6 @@
                     "path": "/Entities/Entity_[777414696688]/Components/AZ::Render::EditorMeshComponent/Controller/Configuration/ModelAsset/assetHint",
                     "value": "assets/urdfimporter/1440394708_panda/link3.dae.azmodel"
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-                    "path": "/Entities/Entity_[781709663984]/Components/EditorMeshColliderComponent/ColliderConfiguration/ContactOffset",
-                    "value": 0.05999999865889549
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                     "op": "replace",
                     "path": "/Entities/Entity_[790299598576]/Components/AZ::Render::EditorMeshComponent/Controller/Configuration/ModelAsset/assetHint",
@@ -2103,57 +2083,12 @@
                         "IsRuntimeActive": true
                     }
                 },
-                {
-                    "op": "replace",
-                    "path": "/Entities/Entity_[747349925616]/Components/ROS2FrameEditorComponent/ROS2FrameConfiguration/Namespace Configuration/Namespace",
-                    "value": "panda_link2"
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-                    "value": 1.5709999799728394
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-                    "value": 0.019999999552965164
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                 {
                     "op": "add",
-                    "path": "/Entities/Entity_[807479467760]/Components/EditorColliderComponent_2",
+                    "path": "/Entities/Entity_[755939860208]/Components/EditorDisabledCompositionComponent/DisabledComponents/EditorColliderComponent",
                     "value": {
                         "$type": "EditorColliderComponent",
-                        "Id": 15762480907708745507,
+                        "Id": 13507121597919349583,
                         "ColliderConfiguration": {
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@@ -2169,7 +2104,7 @@
                             "Exclusive": true,
                             "Position": [
                                 0.0,
-                                0.004999999888241291,
+                                -0.004999999888241291,
                                 0.05000000074505806
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@@ -2285,37 +2220,12 @@
                         "HasNonUniformScale": false
                     }
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-                    "value": "{6D9F8E0A-466E-5774-8974-FC7F0872FD00}"
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-                    "value": "physx/rubber.physicsmaterial"
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-                {
-                    "op": "replace",
-                    "path": "/Entities/Entity_[807479467760]/Components/ROS2FrameEditorComponent/ROS2FrameConfiguration/Namespace Configuration/Namespace",
-                    "value": "panda_leftfinger"
-                },
                 {
                     "op": "add",
-                    "path": "/Entities/Entity_[755939860208]/Components/EditorColliderComponent",
+                    "path": "/Entities/Entity_[807479467760]/Components/EditorDisabledCompositionComponent/DisabledComponents/EditorColliderComponent_2",
                     "value": {
                         "$type": "EditorColliderComponent",
-                        "Id": 13507121597919349583,
+                        "Id": 15762480907708745507,
                         "ColliderConfiguration": {
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@@ -2331,7 +2241,7 @@
                             "Exclusive": true,
                             "Position": [
                                 0.0,
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+                                0.004999999888241291,
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@@ -2449,32 +2359,8 @@
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-                    "path": "/Entities/Entity_[755939860208]/Components/EditorMeshColliderComponent/ColliderConfiguration/MaterialSlots/Slots/0/MaterialAsset/assetHint",
-                    "value": "physx/rubber.physicsmaterial"
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-                    "value": 0.05999999865889549
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-                    "op": "remove",
-                    "path": "/Entities/Entity_[751644892912]/Components/EditorEntitySortComponent/Child Entity Order/3"
-                },
-                {
-                    "op": "replace",
-                    "path": "/Entities/Entity_[751644892912]/Components/FingerGripperComponent/m_template/InitialPosition",
-                    "value": 0.004999999888241291
+                    "path": "/Entities/Entity_[807479467760]/Components/ROS2FrameEditorComponent/ROS2FrameConfiguration/Namespace Configuration/Namespace",
+                    "value": "panda_leftfinger"
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diff --git a/Project/Prefabs/PandaRobot.prefab b/Project/Prefabs/PandaRobot.prefab
index 69d32fe..00b79c2 100644
--- a/Project/Prefabs/PandaRobot.prefab
+++ b/Project/Prefabs/PandaRobot.prefab
@@ -57,6 +57,110 @@
         }
     },
     "Entities": {
+        "Entity_[442577414367]": {
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+            "Components": {
+                "EditorArticulationLinkComponent": {
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+                    "Id": 3531814366370572486,
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+                        "Position": [
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+                            0.002191312611103058,
+                            0.09619167447090149
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+                        "MaterialSlots": {
+                            "Slots": [
+                                {
+                                    "Name": "Entire object"
+                                }
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+                        "Box": {
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+                                0.06567616015672684,
+                                0.07587969303131104
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+                    "Id": 17643161545594275496
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+                "EditorOnlyEntityComponent": {
+                    "$type": "EditorOnlyEntityComponent",
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+                "EditorVisibilityComponent": {
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+                    "Id": 6855335127572019342
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+                "GripperActionServerComponent": {
+                    "$type": "GenericComponentWrapper",
+                    "Id": 17486607982153163131,
+                    "m_template": {
+                        "$type": "GripperActionServerComponent",
+                        "ActionServerName": "panda_hand_controller/vacuum_gripper_cmd"
+                    }
+                },
+                "ROS2FrameEditorComponent": {
+                    "$type": "ROS2FrameEditorComponent",
+                    "Id": 15458865587954632038,
+                    "ROS2FrameConfiguration": {
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+                        "Publish Transform": false
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+                    "Id": 6038403422994208093,
+                    "Parent Entity": "Entity_[751644892912]"
+                },
+                "VacuumGripperComponent": {
+                    "$type": "GenericComponentWrapper",
+                    "Id": 10195472909881418480,
+                    "m_template": {
+                        "$type": "VacuumGripperComponent",
+                        "EffectorCollider": "Entity_[442577414367]",
+                        "EffectorArticulation": "Entity_[442577414367]"
+                    }
+                }
+            }
+        },
         "Entity_[721580121840]": {
             "Id": "Entity_[721580121840]",
             "Name": "panda_link5",
@@ -938,7 +1042,8 @@
                         "Entity_[811774435056]",
                         "Entity_[755939860208]",
                         "Entity_[807479467760]",
-                        "Entity_[768824762096]"
+                        "Entity_[768824762096]",
+                        "Entity_[442577414367]"
                     ]
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                 "EditorInspectorComponent": {
@@ -1005,7 +1110,7 @@
                 },
                 "GripperActionServerComponent": {
                     "$type": "GenericComponentWrapper",
-                    "Id": 17571685017909850211,
+                    "Id": 18293067359305499582,
                     "m_template": {
                         "$type": "GripperActionServerComponent",
                         "ActionServerName": "panda_hand_controller/gripper_cmd"
@@ -1061,7 +1166,50 @@
                 },
                 "EditorDisabledCompositionComponent": {
                     "$type": "EditorDisabledCompositionComponent",
-                    "Id": 7186072487014280539
+                    "Id": 7186072487014280539,
+                    "DisabledComponents": {
+                        "EditorMeshColliderComponent": {
+                            "$type": "EditorMeshColliderComponent",
+                            "Id": 3514899211479848914,
+                            "ColliderConfiguration": {
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+                                    0.0,
+                                    1.0,
+                                    -1.0341155557737347e-13
+                                ],
+                                "MaterialSlots": {
+                                    "Slots": [
+                                        {
+                                            "Name": "DefaultMaterial"
+                                        }
+                                    ]
+                                }
+                            },
+                            "ShapeConfiguration": {
+                                "PhysicsAsset": {
+                                    "Asset": {
+                                        "assetId": {
+                                            "guid": "{68A1F12D-6DF9-545E-B0E2-F8FCB87D86D0}",
+                                            "subId": 3263612836
+                                        },
+                                        "assetHint": "assets/urdfimporter/1440394708_panda/finger.stl.pxmesh"
+                                    },
+                                    "Configuration": {
+                                        "PhysicsAsset": {
+                                            "assetId": {
+                                                "guid": "{68A1F12D-6DF9-545E-B0E2-F8FCB87D86D0}",
+                                                "subId": 3263612836
+                                            },
+                                            "loadBehavior": "QueueLoad",
+                                            "assetHint": "assets/urdfimporter/1440394708_panda/finger.stl.pxmesh"
+                                        },
+                                        "UseMaterialsFromAsset": false
+                                    }
+                                }
+                            }
+                        }
+                    }
                 },
                 "EditorEntityIconComponent": {
                     "$type": "EditorEntityIconComponent",
@@ -1082,47 +1230,6 @@
                     "$type": "EditorLockComponent",
                     "Id": 13150366325223744978
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-                "EditorMeshColliderComponent": {
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-                            1.0,
-                            -1.0341155557737347e-13
-                        ],
-                        "MaterialSlots": {
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-                                {
-                                    "Name": "DefaultMaterial"
-                                }
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-                    "ShapeConfiguration": {
-                        "PhysicsAsset": {
-                            "Asset": {
-                                "assetId": {
-                                    "guid": "{68A1F12D-6DF9-545E-B0E2-F8FCB87D86D0}",
-                                    "subId": 3263612836
-                                },
-                                "assetHint": "assets/urdfimporter/1440394708_panda/finger.stl.pxmesh"
-                            },
-                            "Configuration": {
-                                "PhysicsAsset": {
-                                    "assetId": {
-                                        "guid": "{68A1F12D-6DF9-545E-B0E2-F8FCB87D86D0}",
-                                        "subId": 3263612836
-                                    },
-                                    "loadBehavior": "QueueLoad",
-                                    "assetHint": "assets/urdfimporter/1440394708_panda/finger.stl.pxmesh"
-                                },
-                                "UseMaterialsFromAsset": false
-                            }
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                 "EditorOnlyEntityComponent": {
                     "$type": "EditorOnlyEntityComponent",
                     "Id": 6797995203671506988
@@ -2592,7 +2699,44 @@
                 },
                 "EditorDisabledCompositionComponent": {
                     "$type": "EditorDisabledCompositionComponent",
-                    "Id": 16198926508553308877
+                    "Id": 16198926508553308877,
+                    "DisabledComponents": {
+                        "EditorMeshColliderComponent": {
+                            "$type": "EditorMeshColliderComponent",
+                            "Id": 5443421632475784076,
+                            "ColliderConfiguration": {
+                                "MaterialSlots": {
+                                    "Slots": [
+                                        {
+                                            "Name": "DefaultMaterial"
+                                        }
+                                    ]
+                                }
+                            },
+                            "ShapeConfiguration": {
+                                "PhysicsAsset": {
+                                    "Asset": {
+                                        "assetId": {
+                                            "guid": "{68A1F12D-6DF9-545E-B0E2-F8FCB87D86D0}",
+                                            "subId": 3263612836
+                                        },
+                                        "assetHint": "assets/urdfimporter/1440394708_panda/finger.stl.pxmesh"
+                                    },
+                                    "Configuration": {
+                                        "PhysicsAsset": {
+                                            "assetId": {
+                                                "guid": "{68A1F12D-6DF9-545E-B0E2-F8FCB87D86D0}",
+                                                "subId": 3263612836
+                                            },
+                                            "loadBehavior": "QueueLoad",
+                                            "assetHint": "assets/urdfimporter/1440394708_panda/finger.stl.pxmesh"
+                                        },
+                                        "UseMaterialsFromAsset": false
+                                    }
+                                }
+                            }
+                        }
+                    }
                 },
                 "EditorEntityIconComponent": {
                     "$type": "EditorEntityIconComponent",
@@ -2613,41 +2757,6 @@
                     "$type": "EditorLockComponent",
                     "Id": 10109227038479545756
                 },
-                "EditorMeshColliderComponent": {
-                    "$type": "EditorMeshColliderComponent",
-                    "Id": 5443421632475784076,
-                    "ColliderConfiguration": {
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-                                    "Name": "DefaultMaterial"
-                                }
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-                    "ShapeConfiguration": {
-                        "PhysicsAsset": {
-                            "Asset": {
-                                "assetId": {
-                                    "guid": "{68A1F12D-6DF9-545E-B0E2-F8FCB87D86D0}",
-                                    "subId": 3263612836
-                                },
-                                "assetHint": "assets/urdfimporter/1440394708_panda/finger.stl.pxmesh"
-                            },
-                            "Configuration": {
-                                "PhysicsAsset": {
-                                    "assetId": {
-                                        "guid": "{68A1F12D-6DF9-545E-B0E2-F8FCB87D86D0}",
-                                        "subId": 3263612836
-                                    },
-                                    "loadBehavior": "QueueLoad",
-                                    "assetHint": "assets/urdfimporter/1440394708_panda/finger.stl.pxmesh"
-                                },
-                                "UseMaterialsFromAsset": false
-                            }
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                 "EditorOnlyEntityComponent": {
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                     "Id": 18364140541148823701
diff --git a/Project/Prefabs/apple.prefab b/Project/Prefabs/apple.prefab
index d3b041e..de088e0 100755
--- a/Project/Prefabs/apple.prefab
+++ b/Project/Prefabs/apple.prefab
@@ -136,8 +136,8 @@
                     "Id": 11883532161581818420,
                     "Configuration": {
                         "entityId": "",
-                        "Linear damping": 20.0,
-                        "Angular damping": 200.0,
+                        "Linear damping": 1.0,
+                        "Angular damping": 1.0,
                         "Compute Mass": false,
                         "Mass": 0.125,
                         "Centre of mass offset": [
@@ -158,6 +158,13 @@
                         ]
                     }
                 },
+                "EditorTagComponent": {
+                    "$type": "EditorTagComponent",
+                    "Id": 9118820042985950900,
+                    "Tags": [
+                        "Grippable"
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                 "EditorVisibilityComponent": {
                     "$type": "EditorVisibilityComponent",
                     "Id": 17099443271266381888
diff --git a/Project/Prefabs/black_cube.prefab b/Project/Prefabs/black_cube.prefab
index 8b73b82..972b0d0 100755
--- a/Project/Prefabs/black_cube.prefab
+++ b/Project/Prefabs/black_cube.prefab
@@ -137,22 +137,17 @@
                     "Id": 13561659260120629871,
                     "Configuration": {
                         "entityId": "",
-                        "Linear damping": 10.0,
-                        "Angular damping": 10.0,
+                        "Linear damping": 1.0,
+                        "Angular damping": 1.0,
                         "Sleep threshold": 0.0,
                         "Compute Mass": false,
                         "Mass": 0.25,
-                        "Centre of mass offset": [
-                            0.0,
-                            0.0,
-                            0.02500000037252903
-                        ],
                         "Inertia tensor": [
-                            0.00010416666918899864,
+                            0.00010416667646495625,
                             0.0,
                             0.0,
                             0.0,
-                            0.00010416666918899864,
+                            0.00010416667646495625,
                             0.0,
                             0.0,
                             0.0,
@@ -160,6 +155,13 @@
                         ]
                     }
                 },
+                "EditorTagComponent": {
+                    "$type": "EditorTagComponent",
+                    "Id": 761707688382702289,
+                    "Tags": [
+                        "Grippable"
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                 "EditorVisibilityComponent": {
                     "$type": "EditorVisibilityComponent",
                     "Id": 4403913835617255944
diff --git a/Project/Prefabs/blue_cube.prefab b/Project/Prefabs/blue_cube.prefab
index 28198ea..d05643a 100755
--- a/Project/Prefabs/blue_cube.prefab
+++ b/Project/Prefabs/blue_cube.prefab
@@ -137,22 +137,17 @@
                     "Id": 13561659260120629871,
                     "Configuration": {
                         "entityId": "",
-                        "Linear damping": 10.0,
-                        "Angular damping": 10.0,
+                        "Linear damping": 1.0,
+                        "Angular damping": 1.0,
                         "Sleep threshold": 0.0,
                         "Compute Mass": false,
                         "Mass": 0.25,
-                        "Centre of mass offset": [
-                            0.0,
-                            0.0,
-                            0.02500000037252903
-                        ],
                         "Inertia tensor": [
-                            0.00010416666918899864,
+                            0.00010416667646495625,
                             0.0,
                             0.0,
                             0.0,
-                            0.00010416666918899864,
+                            0.00010416667646495625,
                             0.0,
                             0.0,
                             0.0,
@@ -160,6 +155,13 @@
                         ]
                     }
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+                "EditorTagComponent": {
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+                    "Id": 6285042727213339555,
+                    "Tags": [
+                        "Grippable"
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                     "Id": 4403913835617255944
diff --git a/Project/Prefabs/carrot.prefab b/Project/Prefabs/carrot.prefab
index 85ece79..0b3e841 100755
--- a/Project/Prefabs/carrot.prefab
+++ b/Project/Prefabs/carrot.prefab
@@ -353,8 +353,8 @@
                     "Id": 14790875665153150865,
                     "Configuration": {
                         "entityId": "",
-                        "Linear damping": 20.0,
-                        "Angular damping": 200.0,
+                        "Linear damping": 1.0,
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                         "Compute Mass": false,
                         "Mass": 0.15000000596046448,
                         "Centre of mass offset": [
@@ -375,6 +375,13 @@
                         ]
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+                "EditorTagComponent": {
+                    "$type": "EditorTagComponent",
+                    "Id": 16397323468637220085,
+                    "Tags": [
+                        "Grippable"
+                    ]
+                },
                 "EditorVisibilityComponent": {
                     "$type": "EditorVisibilityComponent",
                     "Id": 11409618612434829098
diff --git a/Project/Prefabs/corn.prefab b/Project/Prefabs/corn.prefab
index 4cebcee..2d9f82b 100755
--- a/Project/Prefabs/corn.prefab
+++ b/Project/Prefabs/corn.prefab
@@ -255,28 +255,35 @@
                     "Id": 4476142177010692222,
                     "Configuration": {
                         "entityId": "",
-                        "Linear damping": 20.0,
-                        "Angular damping": 200.0,
+                        "Linear damping": 1.0,
+                        "Angular damping": 1.0,
                         "Compute Mass": false,
                         "Mass": 0.20000000298023224,
                         "Centre of mass offset": [
-                            -0.0002216073771705851,
-                            -0.0007254894007928669,
-                            -0.0007085984689183533
+                            -0.0003693456237670034,
+                            -0.0012091490207239985,
+                            -0.0011809974675998092
                         ],
                         "Inertia tensor": [
-                            0.000046410106733674183,
+                            0.00012891695951111615,
                             0.0,
                             0.0,
                             0.0,
-                            0.000047158508095890284,
+                            0.0001309958752244711,
                             0.0,
                             0.0,
                             0.0,
-                            0.00001196084213006543
+                            0.00003322456905152649
                         ]
                     }
                 },
+                "EditorTagComponent": {
+                    "$type": "EditorTagComponent",
+                    "Id": 11935729909519788024,
+                    "Tags": [
+                        "Grippable"
+                    ]
+                },
                 "EditorVisibilityComponent": {
                     "$type": "EditorVisibilityComponent",
                     "Id": 12802023452715689730
diff --git a/Project/Prefabs/green_cube.prefab b/Project/Prefabs/green_cube.prefab
index d48039f..47a2bea 100755
--- a/Project/Prefabs/green_cube.prefab
+++ b/Project/Prefabs/green_cube.prefab
@@ -137,22 +137,17 @@
                     "Id": 13561659260120629871,
                     "Configuration": {
                         "entityId": "",
-                        "Linear damping": 10.0,
-                        "Angular damping": 10.0,
+                        "Linear damping": 1.0,
+                        "Angular damping": 1.0,
                         "Sleep threshold": 0.0,
                         "Compute Mass": false,
                         "Mass": 0.25,
-                        "Centre of mass offset": [
-                            0.0,
-                            0.0,
-                            0.02500000037252903
-                        ],
                         "Inertia tensor": [
-                            0.00010416666918899864,
+                            0.00010416667646495625,
                             0.0,
                             0.0,
                             0.0,
-                            0.00010416666918899864,
+                            0.00010416667646495625,
                             0.0,
                             0.0,
                             0.0,
@@ -160,6 +155,13 @@
                         ]
                     }
                 },
+                "EditorTagComponent": {
+                    "$type": "EditorTagComponent",
+                    "Id": 9153336070195600087,
+                    "Tags": [
+                        "Grippable"
+                    ]
+                },
                 "EditorVisibilityComponent": {
                     "$type": "EditorVisibilityComponent",
                     "Id": 4403913835617255944
diff --git a/Project/Prefabs/red_cube.prefab b/Project/Prefabs/red_cube.prefab
index a79ae4b..9f8ab5e 100755
--- a/Project/Prefabs/red_cube.prefab
+++ b/Project/Prefabs/red_cube.prefab
@@ -137,22 +137,17 @@
                     "Id": 13561659260120629871,
                     "Configuration": {
                         "entityId": "",
-                        "Linear damping": 10.0,
-                        "Angular damping": 10.0,
+                        "Linear damping": 1.0,
+                        "Angular damping": 1.0,
                         "Sleep threshold": 0.0,
                         "Compute Mass": false,
                         "Mass": 0.25,
-                        "Centre of mass offset": [
-                            0.0,
-                            0.0,
-                            0.02500000037252903
-                        ],
                         "Inertia tensor": [
-                            0.00010416666918899864,
+                            0.00010416667646495625,
                             0.0,
                             0.0,
                             0.0,
-                            0.00010416666918899864,
+                            0.00010416667646495625,
                             0.0,
                             0.0,
                             0.0,
@@ -160,6 +155,13 @@
                         ]
                     }
                 },
+                "EditorTagComponent": {
+                    "$type": "EditorTagComponent",
+                    "Id": 2837673088075890972,
+                    "Tags": [
+                        "Grippable"
+                    ]
+                },
                 "EditorVisibilityComponent": {
                     "$type": "EditorVisibilityComponent",
                     "Id": 4403913835617255944
diff --git a/Project/Prefabs/tomato.prefab b/Project/Prefabs/tomato.prefab
index b68ddf9..85bcd4a 100755
--- a/Project/Prefabs/tomato.prefab
+++ b/Project/Prefabs/tomato.prefab
@@ -136,28 +136,35 @@
                     "Id": 9224062442123972628,
                     "Configuration": {
                         "entityId": "",
-                        "Linear damping": 20.0,
-                        "Angular damping": 200.0,
+                        "Linear damping": 1.0,
+                        "Angular damping": 1.0,
                         "Compute Mass": false,
                         "Mass": 0.20000000298023224,
                         "Centre of mass offset": [
-                            -0.00011431012535467744,
-                            0.00002530297206249088,
-                            0.001235659932717681
+                            -0.0001428876566933468,
+                            0.0000316287150781136,
+                            0.0015445752069354057
                         ],
                         "Inertia tensor": [
-                            0.000026813961085281335,
+                            0.00004189681931165978,
                             0.0,
                             0.0,
                             0.0,
-                            0.000029061740860925056,
+                            0.00004540897862170823,
                             0.0,
                             0.0,
                             0.0,
-                            0.00003083164119743742
+                            0.00004817444641957991
                         ]
                     }
                 },
+                "EditorTagComponent": {
+                    "$type": "EditorTagComponent",
+                    "Id": 4243647606867997133,
+                    "Tags": [
+                        "Grippable"
+                    ]
+                },
                 "EditorVisibilityComponent": {
                     "$type": "EditorVisibilityComponent",
                     "Id": 4910412103323004378
diff --git a/ros2_ws/src/robotic_manipulation/CMakeLists.txt b/ros2_ws/src/robotic_manipulation/CMakeLists.txt
index 0561e2e..63c0c9d 100644
--- a/ros2_ws/src/robotic_manipulation/CMakeLists.txt
+++ b/ros2_ws/src/robotic_manipulation/CMakeLists.txt
@@ -11,6 +11,7 @@ find_package(moveit_ros_planning_interface REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(gazebo_msgs REQUIRED)
 find_package(vision_msgs REQUIRED)
+find_package(control_msgs REQUIRED)
 find_package(rosbag2_cpp REQUIRED)
 find_package(rai_interfaces REQUIRED)
 
@@ -25,6 +26,7 @@ ament_target_dependencies(
   "rclcpp"
   "gazebo_msgs"
   "vision_msgs"
+  "control_msgs"
   "rosbag2_cpp"
   "rai_interfaces"
 )
diff --git a/ros2_ws/src/robotic_manipulation/include/robotic_manipulation/arm_controller.h b/ros2_ws/src/robotic_manipulation/include/robotic_manipulation/arm_controller.h
index 2bf709d..371121f 100644
--- a/ros2_ws/src/robotic_manipulation/include/robotic_manipulation/arm_controller.h
+++ b/ros2_ws/src/robotic_manipulation/include/robotic_manipulation/arm_controller.h
@@ -17,6 +17,18 @@
 
 #include <moveit/move_group_interface/move_group_interface.h>
 
+#include <memory>
+#include <vector>
+#include <string>
+#include <atomic>
+#include <numbers>
+
+#include <rclcpp/rclcpp.hpp>
+#include <rclcpp_action/rclcpp_action.hpp>
+#include <control_msgs/action/gripper_command.hpp>
+#include <geometry_msgs/msg/pose.hpp>
+#include <tf2/LinearMath/Quaternion.h>
+
 class ArmController
 {
 public:
@@ -56,6 +68,13 @@ class ArmController
   std::shared_ptr<moveit::planning_interface::MoveGroupInterface> m_pandaArm;
   std::shared_ptr<moveit::planning_interface::MoveGroupInterface> m_hand;
 
+  using GripperCommand = control_msgs::action::GripperCommand;
+  using GripperCommandClient = rclcpp_action::Client<GripperCommand>;
+  std::shared_ptr<GripperCommandClient> m_gripperClient;
+  std::string ActionName;
+
+  bool SendGripperCommand(double position);
+
   std::atomic_bool gripper = false;
 
   rclcpp::Node::SharedPtr m_node;
diff --git a/ros2_ws/src/robotic_manipulation/src/arm_controller.cpp b/ros2_ws/src/robotic_manipulation/src/arm_controller.cpp
index 4d68921..fceeef2 100644
--- a/ros2_ws/src/robotic_manipulation/src/arm_controller.cpp
+++ b/ros2_ws/src/robotic_manipulation/src/arm_controller.cpp
@@ -17,12 +17,19 @@
 
 #include <numbers>
 #include <rosgraph_msgs/msg/clock.hpp>
+#include <control_msgs/action/gripper_command.hpp>
+#include <chrono>
+#include <functional>
+#include <thread>
+#include <future>
 
 void ArmController::Initialize()
 {
   m_node = rclcpp::Node::make_shared("arm_controller");
   m_node->set_parameter(rclcpp::Parameter("use_sim_time", true));
 
+  ActionName = "panda_hand_controller/vacuum_gripper_cmd";
+
   WaitForClockMessage();
 
   m_executor.add_node(m_node);
@@ -31,6 +38,7 @@ void ArmController::Initialize()
   m_pandaArm =
     std::make_shared<moveit::planning_interface::MoveGroupInterface>(m_node, "panda_arm");
   m_hand = std::make_shared<moveit::planning_interface::MoveGroupInterface>(m_node, "hand");
+  m_gripperClient = rclcpp_action::create_client<GripperCommand>(m_node, ActionName);
 
   m_pandaArm->setMaxVelocityScalingFactor(1.0);
   m_pandaArm->setMaxAccelerationScalingFactor(1.0);
@@ -90,19 +98,86 @@ bool ArmController::MoveThroughWaypoints(std::vector<geometry_msgs::msg::Pose> c
 void ArmController::Open()
 {
   gripper.store(true);
+
   m_hand->setJointValueTarget("panda_finger_joint1", OpenGripperJointValue);
   while (m_hand->move() != moveit::core::MoveItErrorCode::SUCCESS) {
     RCLCPP_ERROR(m_node->get_logger(), "Failed to open hand");
   }
+
+  // Use action client to send open command. Small max_effort allows free opening.
+  if (!SendGripperCommand(1.0)) {
+    RCLCPP_ERROR(m_node->get_logger(), "Failed to open hand via gripper action");
+  }
 }
 
 void ArmController::Close()
 {
   gripper.store(false);
-  m_hand->setJointValueTarget("panda_finger_joint1", ClosedGripperJointValue);
+
+  m_hand->setJointValueTarget("panda_finger_joint1", 0.02);
   while (m_hand->move() != moveit::core::MoveItErrorCode::SUCCESS) {
     RCLCPP_ERROR(m_node->get_logger(), "Failed to close hand");
   }
+
+  // Use action client to send close command. Increase max_effort for gripping.
+  if (!SendGripperCommand(0.0)) {
+    RCLCPP_ERROR(m_node->get_logger(), "Failed to close hand via gripper action");
+  }
+}
+
+bool ArmController::SendGripperCommand(double position)
+{
+  auto logger = m_node->get_logger();
+  if (!m_gripperClient) {
+    RCLCPP_ERROR(logger, "Gripper action client not initialized");
+    return false;
+  }
+
+  // Wait a short time for the action server to be available.
+  if (!m_gripperClient->wait_for_action_server(std::chrono::seconds(5))) {
+    RCLCPP_ERROR(logger, "Gripper action server '%s' not available", ActionName.c_str());
+    return false;
+  }
+
+  GripperCommand::Goal goal_msg;
+  goal_msg.command.position = position;
+
+  auto goal_handle_future = m_gripperClient->async_send_goal(goal_msg);
+  {
+    auto const timeout = std::chrono::milliseconds(10);
+    while (goal_handle_future.wait_for(timeout) != std::future_status::ready) {
+      // Give up CPU briefly — the other thread runs the executor and will
+      // make the future ready when the goal is accepted/rejected.
+      std::this_thread::yield();
+    }
+    if (goal_handle_future.wait_for(std::chrono::seconds(0)) !=
+        std::future_status::ready) {
+      RCLCPP_ERROR(logger, "Failed to send gripper goal");
+      return false;
+    }
+  }
+
+  auto goal_handle = goal_handle_future.get();
+  if (!goal_handle) {
+    RCLCPP_ERROR(logger, "Goal was rejected by gripper action server");
+    return false;
+  }
+
+  auto result_future = m_gripperClient->async_get_result(goal_handle);
+  {
+    auto const timeout = std::chrono::milliseconds(10);
+    while (result_future.wait_for(timeout) != std::future_status::ready) {
+      std::this_thread::yield();
+    }
+    if (result_future.wait_for(std::chrono::seconds(0)) !=
+        std::future_status::ready) {
+      RCLCPP_ERROR(logger, "Failed to get result from gripper action server");
+      return false;
+    }
+  }
+
+  auto result = result_future.get();
+  return result.code == rclcpp_action::ResultCode::SUCCEEDED;
 }
 
 std::vector<double> ArmController::GetEffectorPose()
diff --git a/ros2_ws/src/robotic_manipulation/src/rai_manipulation_interface_node.cpp b/ros2_ws/src/robotic_manipulation/src/rai_manipulation_interface_node.cpp
index 60ded72..f026744 100644
--- a/ros2_ws/src/robotic_manipulation/src/rai_manipulation_interface_node.cpp
+++ b/ros2_ws/src/robotic_manipulation/src/rai_manipulation_interface_node.cpp
@@ -42,9 +42,11 @@ void RaiManipulationInterfaceNode::Initialize(ArmController & arm)
 
   m_moveToService = m_node->create_service<rai_interfaces::srv::ManipulatorMoveTo>(
     "/manipulator_move_to",
-    [&](
+    [&arm, this](
       std::shared_ptr<rai_interfaces::srv::ManipulatorMoveTo::Request> const request,
       std::shared_ptr<rai_interfaces::srv::ManipulatorMoveTo::Response> response) {
+      auto logger = m_node->get_logger();
+
       RCLCPP_INFO(logger, "Received move request");
 
       response->success = false;
@@ -111,9 +113,10 @@ void RaiManipulationInterfaceNode::Initialize(ArmController & arm)
 
   m_resetService = m_node->create_service<std_srvs::srv::Trigger>(
     "/reset_manipulator",
-    [&](
+    [&arm, this](
       [[maybe_unused]] std::shared_ptr<std_srvs::srv::Trigger::Request> const request,
       std::shared_ptr<std_srvs::srv::Trigger::Response> response) {
+      auto logger = m_node->get_logger();
       RCLCPP_INFO(logger, "Received reset request");
       response->success = arm.SetJointValues(m_startingPose);
     });