1. Getting started with kinematics for the PR2

    This tutorial will show you how to get started with computing position forward and inverse kinematics for the PR2.

  2. Getting kinematic solver info from a kinematics node

    This tutorial will show you how to get information about the links and joints that a kinematics solver deals with.

  3. Forward kinematics for the PR2 arms

    This tutorial will show you how to use a kinematics node to solve the forward kinematics and get the cartesian positions for the links on a PR2 arm.

  4. Inverse kinematics for the PR2 arms

    This tutorial will show you how to use a kinematics node to solve the inverse kinematics and get the joint positions for a desired cartesian position of the PR2 arms.

  5. Collision free inverse kinematics for the PR2 arms

    This tutorial will show you how to use a kinematics node to get collision free inverse kinematics solutions for a desired cartesian position of the PR2 arms.

Create a new tutorial:

Wiki: pr2_kinematics/Tutorials (last edited 2010-03-12 12:27:15 by SachinChitta)

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