Hi, I'm working with the ur10 model and I'm trying to get a way of controlling it by setting a pose for the end-effector. However I have no clue on how to do it. I tried the tutorial of movit regarding [kinematics](http://docs.ros.org/indigo/api/moveit_tutorials/html/doc/pr2_tutorials/kinematics/src/doc/kinematic_model_tutorial.html). But in the tutorial they calculate the IK from the value calculated from the DK for the end-effector but I want to set manually the values of the end-effector. So I tried to do the same way as they do for the joints:
kinematic_state->setRandomPosition(joint_model_group);
but had no success in finding a similar function for the links as there are for setting the joint values. Is there any other way I can do this, in order I can manually write the x,y,z values?
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