I’m exploring pick-and-place tasks using the Stretch 3 and looking for demos that allow me to specify a target 3D position relative to the base link, enabling it to move its gripper to that position. I assume demos like align_to_aruco and stretch_web_teleop click to pre-grasp utilize inverse kinematics (IK), but the latest documentation I found only mentions IK for Stretch RE1 and Stretch 2. Given that Stretch 2 and Stretch 3 appear to have similar kinematics, is the same IK approach applicable? From my understanding, I could replicate the align_to_aruco demo except feed a 3d pose rather than the pose of the aruco tag? I’m new to IK and robotic path planning, so I appreciate any guidance.
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