move kortex arm (gen3_lite) using IK

[aboulbarge]

Hello,
I try to make a simulation using IK, in a python code with the model of gen3_lite. I already installed the necessary packages, and I manage to launch the model of gen3_lite with moveit, but I don't know yet where I can find a code that allows me to manipulate this arm, using inverse kinematics with python.
Thanks.

[alexvannobel]

Hi @aboulbarge ,

We don't have such an example yet. You can look into this issue where a user wanted to use Twist commands in Gazebo.
You can also use MoveIt to move to Cartesian targets as in the Python example.
I'll keep this issue open and update it if there is new development concerning IK with Gen3 lite.

Best regards,
Alex

[alexvannobel]

Hi @aboulbarge ,

You can have a look at the latest release, which adds simulation improvements for Kortex arms.
Among the improvements, you can now use the PlayCartesianTrajectory ROS service to send Cartesian poses to the simulated arm. The IK is calculated with KDL in the kortex_driver.

As this is now possible in simulation, I'll close this issue. Don't hesitate to reopen it if you encounter problems, or open a new issue.

Best,
Alex