How to animate the Panda robot to grab the cubes in the scene and place them at an arbitrary location?

Questions
1

Hi @Mugen87,

I am animating the robot to perform the pick and place operation. I am able to access the links and axes of the robotic arm and I am able to rotate and translate them as well.
I have these two queries:

  1. Can I use THREE.IK to implement the inverse kinematics algorithms in the robot (as shown in the figures below)?

  2. How to ensure that the Gripper fingers are grabbing the cube?

1
11198×677 59 KB

2
21242×672 32.7 KB

The link to the code is: https://jsfiddle.net/adwait3301/7cLsnz8g/938/

I’d really appreciate your help.
Thanks,
Adwait