I'm not sure what you are asking. Can you please provide a couple of examples? Do you mean you want to figure out the joint angles that produce a given pose of the end effector?
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It is possible that one or more points on the K are not reachable by the kinematics of the robot's arm. I suggest manually moving the gripper through the desired points using the MoveIt demo mode first to make sure the arm can actually reach the desired points.
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Thanks & best regards.
Shawn Yan 严诗浩
Irobotlab of SCUT
School of Mechanical and Automotive Engineering
South China University of Technology (SCUT)
Yes, drag in demo mode is what I meant.
As for your other two questions below, they would be very good
questions for the MoveIt