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Yes, the defender can either attempt a Grapple maneuver to escape the grapple (or take over as the Grappler in charge of the grapple) by overcoming the Attacker's CMD or they can attempt an Escape Artist check vs. the Attacker's CMD. If either is successful, they escape the Grapple. The Defender would apply any special modifiers (Improved Grapple) to their attempt to escape (apply the -4 penalty if they do not have both hands free). There is no penalty assessed to an Escape Artist attempt beyond the -4 Dexterity penalty for being Grappled (a lot of people forget to account for that).
I hope that answers your question.
Yes, the defender can either attempt a Grapple maneuver to escape the grapple (or take over as the Grappler in charge of the grapple) by overcoming the Attacker's CMD or they can attempt an Escape Artist check vs. the Attacker's CMD. If either is successful, they escape the Grapple. The Defender would apply any special modifiers (Improved Grapple) to their attempt to escape (apply the -4 penalty if they do not have both hands free). There is no penalty assessed to an Escape Artist attempt beyond the -4 Dexterity penalty for being Grappled (a lot of people forget to account for that).
I hope that answers your question.
Yeah, thank you very much!
One last note:
and Attacker would apply modifiers as "+1 CMD vs. grapple" (as favored class bonus) or "+2 CMD vs. grapple" (because of Improved Grapple feat) for his CMD in such checks, making Defender harder to escape, right?
You are absolutely correct.
Is this information still correct? You can use modifiers to grapple to escape a grapple?
yes and no.
modifiers to the one maintaining the grapple (and thus uses his cmd to keep it) use stuff that modify grapple. but if the defender try to use escape artist instead of a grapple check he can not use modifiers that help grapple checks (since he doesn't roll one) but he can use stuff that add to skills specifically escape artist.if he tries with a grapple check then he use grapple modifiers (but not skill modifiers).
also note that a grapple check as a combat maneuver check is an attack roll so stuff that modify that work, as well as auto success with a nat 20 and auto fail with a nat 1. escape artist as a skill is not an auto success even if one roll a nat 20 (the same as rolling nat 20 on a jump attempt won't let you jump all the way to the moon. the dc is too high).
some of my grapple builds are taking this into account by making sure the target can't roll attacks (usually using fear) while having the dc way too high for even a roll of 20 to be effective (on a skill that most do not have a lot in).
Attempting to escape a grapple is a grapple check? Doesn't say that in the book.
Attempting to break the grapple using a CMB check (or take control of it) is a grapple check. The other check you can make is an Escape Artist (skill) check. Trying to argue otherwise would require one to be needlessly pedantic about the exact phrasing of the description of the maneuver in question.
Attempting to escape a grapple is a grapple check? Doesn't say that in the book.
attempting whatever is whatever you attempt to do:
attempting to escape via spell is spell casting (and any checks it might require).
attempting to escape by talking it out is a diplomacy check.
attempting via grapple is a grapple check.
via a escape artist skill is an escape artist skill check.
via murdering the grappler is an attack check.
etc.
this is why things that help by making it easier to escape -like the grease spell, specifically call out what they effect.
in grease's case : "A creature wearing greased armor or clothing gains a +10 circumstance bonus on Escape Artist checks and combat maneuver checks made to escape a grapple, and to their CMD to avoid being grappled."
things that only make you better at one of these checks (better at grappling but not escape artist or better at escape artist but not grappling) only effect the check they say.