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Inverse Kinematics from Python

asked 2013-12-05 10:05:09 -0500

atp
529 ●47 ●56 ●67

updated 2013-12-21 07:34:02 -0500

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How can I access the inverse kinematics solver from Python (with or without using moveit)? The tutorial on the moveit website does not seem to be up to date.

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Thanks. Could you post your code? I've a hard time finding the right Python commands to use. In particular, what arguments are you providing to rospy.ServiceProxy(...)?

atp ( 2013-12-06 03:40:39 -0500 )edit

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answered 2013-12-05 12:04:36 -0500

lindzey
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This is kind of hacky, but I've just been using the /compute_ik service call while running move_group, both from python and C++. I'm hoping that there's a simple and lighter-weight solution ...

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answered 2013-12-06 05:31:29 -0500

atp
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Ah, got it. This is a good example: https://github.com/chili-epfl/hoap3_write/blob/master/scripts/sample_reachable.py

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Asked: 2013-12-05 10:05:09 -0500

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Last updated: Dec 05 '13

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