IK with Robotiq gripper 2f 85 attached on UR5e

[rrapi]

Hello everyone,

I am a master science student and for my thesis I am working on a UR5e robot with a Robotiq 2f 85 gripper directly attached. In this project I have to grasp some objects in different positions and orientations, so for this reason I am using MoveIt to get directly the Inverse Kinematics of a desired position and orientation depending on the object detected. But the problem is that MoveIt considers as the reference frame of the endeffector the original one that ends in tool0, but as I am working with the gripper, I need that the referenze frame of the ee has to be of the robotiq gripper, so tranlates of ~19 cm wrt z-azis of previous one. Without this setting the IK is always wrong as it changes completely the result. Unfortunately ur5e_moveit_config package of has no gripper in the configuration, i tried to make one by me but did not worked.

Could you please help me to solve this problem? Thank you very much in advance!

Best regards, Franci