Baxter robot IKFast independent usage

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Baxter robot IKFast independent usage

anirban
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I am Baxter robot user. I want to use Custom IKFast for Baxter robot and in order to do that I followed the following tutorial, http://sdk.rethinkrobotics.com/wiki/Custom_IKFast_for_your_Baxter. I have successfully generated ikfast_solver.cpp  for both the arms respectively. Baxter's webpage shows how to integrate these files with MoveIt. What I want is to use these two files with out using MoveIt to solve inverse kinematics given one particular cartesian configuration of the end effector. Is there a way where I can use these files to solve inverse kinematics independently?

Sincerely,
Anirban
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Re: Baxter robot IKFast independent usage

JarvisRobot
You can try the generated solver like these examples:

http://openrave.org/docs/0.8.0/tutorials/openravepy_examples/



BTW,  have you tried the '$ g++ ikfastdemo.cpp -lstdc++ -llapack -o compute -lrt' command that posted here.
Any comments would be helpful.
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