How do I change the end effector to an attached object?
Hi,
I'm currently working with a Motoman Sia5 robot arm. I can pick something up with the arm just fine. What I would like to do is pick up a bowl and have the bowl rotate about an axis relative to itself. I was thinking the best way to go about this would be to change the robot within ROS to include the bowl as a link (essentially add it to the urdf) and change the end effector to the bowl once the robot grabbed the bowl.
How would I do this?
I'm not very clear about what you want; do't you want to rotate the hand/gripper so that the bowl rotates? Do you want to have only the bowl rotate instead?