Gripper with 2 axis


The picture shows a tool that can grip and rotate. Gripping the box works, but turning is a problem,- only the Gripper is turning,- not the box.

How do I have to mount the tool so that the box rotates with the gripper ?

Many thanks for help

Sounds like the box is not attached to the gripper or node of gripper that has to rotate rather the mount plate node of robot. You can check by using the PnP command and selecting the box. Make the gripper invisible to verify if the blue arrow from the box is pointing to robot. Actually, making the gripper invisible would also make the box invisible if the box was attached to it bc of parent-child hierarchy rule.

Thank you

It is running now. The tool_data for grip the box must have the Node of the last link from the gripper.