I menaged to make the direct kinematics on my rbx1 project just using python and numpy, however the inverse kinematics is the real challenge. I know there is some programs in ROS out there that can help, but making learning and understanding how to use ROS from scratch is as hard (ive been trying just to make gazebo work for months).
Anyway, my direct kinematics give me rotation and position, given each joint angle. Anyone know a easy to use reverse kinematic solver? I also know that for each position, there will be 8 possibility of joints configuration on a 6 axis arm.