CoppeliaSim forums

Hello, I want the Panda robot gripper (parallel jaw gripper) to grasp the block tilted.
How can I adjust the grasp point? I am now only using the waypoints.

The red pose is the original pose. The blue one is the desired output.

Hello,

not sure what your code looks like, but normally you'd use a dummy to specify the desired pick/grasp pose... it looks like it is the dummy above your part. Try to adjust its position. Your scene might of course also use a hard-coded configuration, then you'd have to recompute that, e.g. with simIK.findConfigs

Cheers

Thank you..!!