Hi @bshah, thanks so much for this, this is extremely helpful! I was wondering – is there something similar for Forward Kinematics? I tried looking for a tutorial / python script for this, but had no luck. Thanks!
Hey @arjung, glad to hear you found it helpful! That’s a good question. The IK tutorial actually includes forward kinematics. Set everything up the same way as in the tutorial, and you can do FK using:
ROS has its own way of doing FK through a library called TF2. If you’re using ROS, check out this example:
Hi @Shashank_Shiva, would you open a new thread? I’d like to keep this thread focused on the IK tutorial.
Short answer: you’d need to transform the point into the robot’s frame, which requires you to also know where the robot’s frame is with respect to the optitrack world frame. You might do this by attaching fiducials to the robot, so optitrack can track where the robot is as well. Happy to elaborate in the new thread.