Extracting Data From MoveIt
Hi ROS community ,
i am beginner in ROS and i create my own URDF from SolidWorks using a SolidWorks to URDF Exporter . I configure this Arm with MoveIt and its working Well with MoveIt . But i want to know the parameters like FK(forward kinematics ), IK(Inverse kinematics )and some other parameters related to my robot from MoveIt details . I search on internet about it but i can't get any information about this so i came here if anyone knows so help me with this information .i attached the Image of my 3 D.O.F Robotic arm 
What sort of details are you referring to? The transformation matrices?
yes, sir i need FK, IK and dynamics matrices and one more question that i not add above may u tell me how i make my robot in standing position ?
I'm not sure whether that is possible. MoveIt hosts a nr of plugins that contain the IK/FK matrices, but they are not retrievable through any service/topic or API call IIRC (but do look at the MoveIt API docs).
As to dynamics: MoveIt in its current implementation does not do anything with dynamics, so I don't believe it has anything to offer there.
i checked MoveIt API docs but there no such information that's the reason i post the question here and one more question i have robot urdf file and my link is laying on ground and i want to make it normal to the ground how i can do may u help me sir ?
That would seem to be a different question, which should be posted in a separate post.
Try to avoid asking multiple questions in one post, it doesn't work too well on ROS Answers.
Thanks Sir i will ask it as separate question