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

- Getting kinematic solver info from a kinematics node
This tutorial will show you how to get information about the links and joints that a kinematics solver deals with.

- Forward kinematics for the PR2 arms
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.

- Inverse kinematics for the PR2 arms
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.

- Collision free inverse kinematics for 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.

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