IK with gripper

[paulosantosphs]

Hello!! Is there some way to perform an inverse kinematics considering a gripper or other thing attached to the end link of the robot using pyrobolearn? Because I just can do IK considering the end link of the robot, but I'm using a gripper. So, I would like to do it by sending a position referring to the gripper. Thanks!

[bdelhaisse]

Hi,

If you attached it manually in the simulator, there are no current methods to do that in the current version of PRL. However, I think you can use the Jacobian matrices and use them to get what you want. Currently, I don't have so much time but I will definitely have a look at it and implement it in a future version of the framework. In the meantime, if you don't want to play with the Jacobian matrices, you could create your own URDF file such that you have one entity (and not two attached together), and then use the provided methods.

Let me know how it goes.
Best,
Brian