This tutorial will show you how to get started with computing position forward and inverse kinematics for the PR2.

This tutorial will show you how to get information about the links and joints that a kinematics solver deals with.

This tutorial will show you how to use a kinematics node to solve the forward kinematics and get the cartesian positions for the links on a PR2 arm.

This tutorial will show you how to use a kinematics node to solve the inverse kinematics and get the joint positions for a desired cartesian position of the PR2 arms.

This tutorial will show you how to use a kinematics node to get collision free inverse kinematics solutions for a desired cartesian position of the PR2 arms.