Inverse Kinematics Tutorial & Workshop Recording

[bshah]

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:

chain.forward_kinematics(q)

ROS has its own way of doing FK through a library called TF2. If you’re using ROS, check out this example:

Rospy for tf and stretch_body

Got it, below is an example that moves the arm to 0.5m while using tf at the same time to output the end effector position. However, I don’t use robot.arm.move_to() in my example because it’s a Stretch Body method which will conflict with Stretch ROS. Instead, I use HelloNode.move_to_pose() which is part of Stretch ROS. If interested, I can explain why the difference matters. Before running the following, perform a git update on Stretch ROS using: roscd stretch_core && git pull, and launch Stre…