Hello,

I have schrunk gripper on motoman robotic arm

https://ibb.co/4jjF8Zr

,

https://schunk.com/be_de/greifsysteme/product/16941-0370100-pgn-64-1/

how can I integrate this gripper with my robot and control it with Moveit?

or

simply, adding gripper length in endeffector Pose (last link pose(z)+gripper length, gripper is attached to last link rigidly using mounting plate) every time when giving object target_pose for pick from current pose in Moveit is easiest way?

thanks.