[ros-users] Does arm IK give link or joint coordinates?

[David Lu!!]

I thought it was for the Link, and will check for sure when I get back to my
office tomorrow or Monday.

-David!!

On Sat, Dec 4, 2010 at 8:12 AM, Patrick Goebel
<patrick at casbs.stanford.edu>wrote:

> OK, I think I have answered my own question and sorry for making a mess
> of the original question.  The question should have simply been: does
> the *forward* kinematics solver map joint positions to poses of the
> joints or the links?  Since the origins of joints and links need not
> coincide, I thought it could be one or the other.
>
> Further experimentation seems to prove that the poses computed by get_fk
> are for the joints, not the links, although both the documentation and
> the output from get_fk use the word "Link" to label the computed poses.
>
> Do I have this correct?
>
> Thanks!
> patrick
>
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