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

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?

The link to the code is:

I’d really appreciate your help.