ROS Answers: Open Source Q&A Forum - RSS feedhttps://answers.ros.org/questions/Open source question and answer forum written in Python and DjangoenROS Answers is licensed under Creative Commons Attribution 3.0Sun, 21 Feb 2016 07:23:29 -0600Simple inverse kinematics testhttps://answers.ros.org/question/227241/simple-inverse-kinematics-test/Hello,
I am working with kdl using inverse kinematics. I successfully imported the [urdf](http://pastebin.com/xYZB1SAJ) file, generated using [xacro](http://pastebin.com/PWwknSjB) and I now am trying to make some calculations.
It is only a 2 axis arm, of height of respectfully 0.2 and 0.1 as you can see in the urdf first axe is linked to the ground and other one is free.
I should be able to access the point (0,0,0.3) if the axes are both straight and (0,pi/4,0.2) if the second one is perpendicular to the first one.
[Here](http://www.orocos.org/kdl/examples) I found a sort of example of inverse kinematics, but I don't really understand 2 things:
1 - How do I fix the positions to be found by the solver
2 - How do I get this data at the end ? It should give me a rotation
Also, I wanted to check orientations of my segments directly but I didn't find a way.
I'd be happy to have hints.
ThanksSun, 21 Feb 2016 07:23:29 -0600https://answers.ros.org/question/227241/simple-inverse-kinematics-test/