Need for end‐effector‐Position‐control and tool‐position API in Gazebo

I am new here and thanks a lot for the excellent performance of real Kinova j2s7s300 arm, which is of great help in my research! I faced the question that I want to obtain both the tool_pose information and cartesian_client_control API in gazebo simulation, which can be easily accessible with real Kinova jaco robots. I started the jaco 2 robotic arm in the simulation and did not find the corresponding ros-topic/service for tool position and position control on the physical arm? Is there any support for this? If so, please let me know, thanks!