{"action":"created","issue":{"url":"https://api.github.com/repos/robotology/QA/issues/67","labels_url":"https://api.github.com/repos/robotology/QA/issues/67/labels{/name}","comments_url":"https://api.github.com/repos/robotology/QA/issues/67/comments","events_url":"https://api.github.com/repos/robotology/QA/issues/67/events","html_url":"https://github.com/robotology/QA/issues/67","id":112128307,"number":67,"title":"How to use CartesianSolver with iCub legs? ","user":{"login":"hu-yue","id":7060968,"avatar_url":"https://avatars.githubusercontent.com/u/7060968?v=3","gravatar_id":"","url":"https://api.github.com/users/hu-yue","html_url":"https://github.com/hu-yue","followers_url":"https://api.github.com/users/hu-yue/followers","following_url":"https://api.github.com/users/hu-yue/following{/other_user}","gists_url":"https://api.github.com/users/hu-yue/gists{/gist_id}","starred_url":"https://api.github.com/users/hu-yue/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/hu-yue/subscriptions","organizations_url":"https://api.github.com/users/hu-yue/orgs","repos_url":"https://api.github.com/users/hu-yue/repos","events_url":"https://api.github.com/users/hu-yue/events{/privacy}","received_events_url":"https://api.github.com/users/hu-yue/received_events","type":"User","site_admin":false},"labels":[{"url":"https://api.github.com/repos/robotology/QA/labels/icub","name":"icub","color":"009800"},{"url":"https://api.github.com/repos/robotology/QA/labels/software","name":"software","color":"0052cc"}],"state":"closed","locked":false,"assignee":{"login":"pattacini","id":3738070,"avatar_url":"https://avatars.githubusercontent.com/u/3738070?v=3","gravatar_id":"","url":"https://api.github.com/users/pattacini","html_url":"https://github.com/pattacini","followers_url":"https://api.github.com/users/pattacini/followers","following_url":"https://api.github.com/users/pattacini/following{/other_user}","gists_url":"https://api.github.com/users/pattacini/gists{/gist_id}","starred_url":"https://api.github.com/users/pattacini/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/pattacini/subscriptions","organizations_url":"https://api.github.com/users/pattacini/orgs","repos_url":"https://api.github.com/users/pattacini/repos","events_url":"https://api.github.com/users/pattacini/events{/privacy}","received_events_url":"https://api.github.com/users/pattacini/received_events","type":"User","site_admin":false},"milestone":null,"comments":6,"created_at":"2015-10-19T11:48:42Z","updated_at":"2015-10-19T16:23:05Z","closed_at":"2015-10-19T16:19:54Z","body":"Hi,\r\nI don't have any experience with the CartesianSolver and I would like to ask if it's possible to use the CartesianSolver for our icub legs and how.\r\nAs our iCubHeidelberg01 has only legs, is it possible to use the solver as in the[ arm example](http://wiki.icub.org/brain/icub-tutorials_2src_2iKin_2onlineSolver_2main_8cpp_source.html)  but with [iCubLegCartesianSolver](http://wiki.icub.org/brain/classiCub_1_1iKin_1_1iCubLegCartesianSolver.html#afef0e40970aeeb3734b3e9777aa8d788) , or should we customize the CartesianInterface as in the [tutorial](http://wiki.icub.org/brain/icub_anyrobot_cartesian_interface.html)?\r\n\r\nWhat we would like to have is the two feet as end effectors and perform online inverse kinematics.\r\n\r\nThanks!"},"comment":{"url":"https://api.github.com/repos/robotology/QA/issues/comments/149267253","html_url":"https://github.com/robotology/QA/issues/67#issuecomment-149267253","issue_url":"https://api.github.com/repos/robotology/QA/issues/67","id":149267253,"user":{"login":"pattacini","id":3738070,"avatar_url":"https://avatars.githubusercontent.com/u/3738070?v=3","gravatar_id":"","url":"https://api.github.com/users/pattacini","html_url":"https://github.com/pattacini","followers_url":"https://api.github.com/users/pattacini/followers","following_url":"https://api.github.com/users/pattacini/following{/other_user}","gists_url":"https://api.github.com/users/pattacini/gists{/gist_id}","starred_url":"https://api.github.com/users/pattacini/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/pattacini/subscriptions","organizations_url":"https://api.github.com/users/pattacini/orgs","repos_url":"https://api.github.com/users/pattacini/repos","events_url":"https://api.github.com/users/pattacini/events{/privacy}","received_events_url":"https://api.github.com/users/pattacini/received_events","type":"User","site_admin":false},"created_at":"2015-10-19T16:23:05Z","updated_at":"2015-10-19T16:23:05Z","body":"@hu-yue there was a typo (fixed now) in my previous comment.\r\n\r\nThe correct line is:\r\n```cpp\r\noption.put(\"remote\",\"/icub/cartesianController/left_leg\");\r\n```\r\nI believe you figured it out anyway."}}