10 actions in 5 pieces of software · ranked by words, meaning and measured trust · 620 ms

1. 1moveit_kinematicsverified and signedpassport

   robot command setros-planning/moveit2record

   • moveit_kinematics/plugin/kdl_kinematics_plugin::KDLKinematicsPlugin

     Plug-in (fills kinematics::KinematicsBase): A implementation of kinematics as a plugin based on KDL.

   • moveit_kinematics/plugin/srv_kinematics_plugin::SrvKinematicsPlugin

     Plug-in (fills kinematics::KinematicsBase): A implementation of kinematics as a plugin that uses a ROS service layer to communicate with an external IK solver

   • moveit_kinematics/plugin/cached_ik_kinematics_plugin::CachedIKKinematicsPlugin<kdl_kinematics_plugin::KDLKinematicsPlugin>

     Plug-in (fills kinematics::KinematicsBase): A kinematics plugin for persistently caching IK solutions computed with the KDL kinematics plugin.

   • moveit_kinematics/plugin/cached_ik_kinematics_plugin::CachedIKKinematicsPlugin<srv_kinematics_plugin::SrvKinematicsPlugin>

     Plug-in (fills kinematics::KinematicsBase): A kinematics plugin for persistently caching IK solutions computed with the Srv kinematics plugin.

2. 2moveit_msgsverified and signedpassport

   robot command setros-planning/moveit_msgsrecord

   • moveit_msgs/srv/GetPositionFK

     A service definition for a standard forward kinematics service The frame_id in the header message is the frame in which the forward kinematics poses will be returned

   • moveit_msgs/srv/GetPositionIK

     A service call to carry out an inverse kinematics computation The inverse kinematics request

3. 3moveit-mcp-serverfound in code, not yet checkedno passport yet

   MCP servergtoff/moveit-mcp-server

   • compute_fk

     Compute forward kinematics for given joint positions

   • compute_ik

     Compute inverse kinematics for a target pose

4. 4crx_kinematicsverified and signedpassport

   robot command setdanielcranston/crx_kinematicsrecord

   • crx_kinematics/plugin/crx_kinematics::CRXKinematicsPlugin

     Plug-in (fills kinematics::KinematicsBase)

5. 5trac_ik_kinematics_pluginverified and signedpassport

   robot command settraclabs/trac_ikrecord

   • trac_ik_kinematics_plugin/plugin/trac_ik_kinematics_plugin::TRAC_IKKinematicsPlugin

     Plug-in (fills kinematics::KinematicsBase): A implementation of kinematics as a plugin based on TRAC-IK.