My gripper is mounted slightly off-center from the tool on a robot arm, and I need some simple way to transform coordinates when moving the robot arm. I've set up a transform that is supposed to convey the offset, it basically goes in as a final link in the /tf topic (so we have baselink, shoulderlink ... ... eelink, gripperlink). However using setEndEffectorLink does nothing, as it seems. I though that

group.plan()

would take the EndEffectorLink value as it's target, is that incorrect?

I've also tried using

group.setEndEffectorLink("nonsensesdkjhfsjkdfhsd")

and MoveIt doesn't seem to care. What am I missing?

Anyone?