Hello,

I am trying to make a realtime inverse kinematics system using kdl in python. However i am having a hard time trying to understand how it works. Unfortunately the examples and api documentation didnt get me much further.

What i am trying to accomplish:

- Simulate a human arm
- 3d visualisation of the arm using cones (with panda3d, panda3d.org)
- using a 3d position (which i am getting trought a wiimote) to inverse calculate the arm bones position/rotation

As i understand, kdl should be able to calculate this for me.

What i currently understand (correct me if im wrong):

- a chain is built up from segments
- a segment contains a joint, which handles the rotation, and a frame, which defines the distance to the next segment.
  - if i need a joint which rotates in multiple directions, i define multiple joints with a frame (0,0,0)

What i dont understand:

- how do i define a point to which the tip of the chain should move to (and thus calculate the pos/rot of the bones)
- how do i let it calculate the inverse kinematics
- how do i assign the results to the chain
- how do i get the position of the bones out of kdl to import it in another system (best would be Vec3-rotation, Vec3-position, relative to the previous segement, but could be Mat3x3 or Mat4x4 as well)

Tnx Hypnos