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- Is there an unit test example for IK plugin?
OpenRAVE provides a way to test every IKFast plugin, see OpenRAVE Documentation - inversekinematics Module - Testing.
You might need to adapt the instructions in the tutorial you linked though, as IIRC it doesn't store the generated plugins in OpenRAVEs cache.
- What is the Python/C++ API for accessing joint and world positions of IKfast?
IKFast is actually part of OpenRAVE, we in ROS are just 'users'. For more info, see OpenRAVEs documentation. For OpenRAVE/IKFast specific questions, I'd recommend contacting the OpenRAVE mailing list.
Information on IKFast and its (plugin) API, see OpenRAVE Documentation - ikfast Module - IKFast: The Robot Kinematics Compiler
| | 2 | No.2 Revision |
- Is there an unit test example for IK plugin?
OpenRAVE provides a way to test every IKFast plugin, see OpenRAVE Documentation - inversekinematics Module - Testing.
You might need to adapt the instructions in the tutorial you linked though, as IIRC it doesn't store the generated plugins in OpenRAVEs cache.
- What is the Python/C++ API for accessing joint and world positions of IKfast?
IKFast is actually part of OpenRAVE, we in ROS are just 'users'. For more info, see OpenRAVEs documentation. For OpenRAVE/IKFast specific questions, I'd recommend contacting the OpenRAVE mailing list.
Information on IKFast and its (plugin) API, see OpenRAVE Documentation - ikfast Module - IKFast: The Robot Kinematics Compiler
Edit: you might also want to look at trac_ik, not as fast, but for some kinematic structures it's a better plugin.
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