GPIO Access from CAN

Hi everyone!
Is there some way to read/set GPIO pins via CAN protocol? I’d like to control gripper of my robot by connecting it’s control pin directly to the latest actuator. It doesn’t seem to exist, but maybe I haven’t read docs thoroughly enougnt? If it’s not, i’d like to implement it myself and, maybe, merge into existing firmware, so I’d like to hear coding and implementation recomendations.