I thought it was for the Link, and will check for sure when I get back to my office tomorrow or Monday. <br><br>-David!!<br><br><div class="gmail_quote">On Sat, Dec 4, 2010 at 8:12 AM, Patrick Goebel <span dir="ltr">&lt;<a href="mailto:patrick@casbs.stanford.edu">patrick@casbs.stanford.edu</a>&gt;</span> wrote:<br>

<blockquote class="gmail_quote" style="border-left: 1px solid rgb(204, 204, 204); margin: 0pt 0pt 0pt 0.8ex; padding-left: 1ex;">OK, I think I have answered my own question and sorry for making a mess<br>
of the original question.  The question should have simply been: does<br>
the *forward* kinematics solver map joint positions to poses of the<br>
joints or the links?  Since the origins of joints and links need not<br>
coincide, I thought it could be one or the other.<br>
<br>
Further experimentation seems to prove that the poses computed by get_fk<br>
are for the joints, not the links, although both the documentation and<br>
the output from get_fk use the word &quot;Link&quot; to label the computed poses.<br>
<br>
Do I have this correct?<br>
<br>
Thanks!<br>
patrick<br>
<br>
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