Can I edit IK of xArm7?

[aimiwer]

I can control the end of xArm7 in mode1 (servo motion) using below code.

arm = XArmAPI(ip)
joint = arm.get_inverse_kinematics(pose)
angles = [joint[1][0], joint[1][1], joint[1][2], joint[1][3], joint[1][4], joint[1][5], joint[1][6]]
arm.set_servo_angle_j(angles)

However, I made an end effector of xArm7, and I want to control the end of it.
So, I want to edit IK model of this SDK.
Can I edit it? If I can, could you tell me how to edit?

[penglongxiang]

In this case, you may set the TCP offset with respect to flange coordinate first before calling get_inverse_kinematics(), refer to:

xArm-Python-SDK/xarm/wrapper/xarm_api.py

Line 1467 in 4b22260

def set_tcp_offset(self, offset, is_radian=None, **kwargs):

After setting the TCP offset, IK will take it into consideration.

[aimiwer]

@penglongxiang Thank you for your instruction.