Inverse Kinematics on Youbot

[kayaataberk]

Trying to make a tower out of these cubes with a YouBot, but I can't seem to get the IK right. Here's my scene I'm currently working on, along with the python file I'm going to run.

https://drive.google.com/drive/folders/ ... sp=sharing

The code seemed to work before I crashed the program somehow with a sim.wait() command, but now I'm either missing something or the code doesn't work anymore?

Thanks.

[kayaataberk]

I have updated my code, and now the robot can go to the block's position. But it doesn't close the gripper even though the function is being activated. Here's the new scene:

https://drive.google.com/file/d/1TTihyD ... sp=sharing