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moveit / moveit_ikfast

THIS REPO HAS MOVED TO https://github.com/ros-planning/moveit
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IKP_TranslationXAxisAngle4D and IKP_TranslationYAxisAngle4D not implemented #68

Closed robosamir closed 8 years ago

robosamir commented 8 years ago

I'd like to try using these IK types. If implemented, I can try testing them to see if they work.

v4hn commented 8 years ago

I'm not sure I understand the issue. Do you want to implement it and provide a patch? Or do you want someone to implement it for you? There already is a ROS_ERROR for these methods not being implemented in the code. I see no reason for an additional issue unless there is some proposed code for it...

robosamir commented 8 years ago

I guess its more a feature request. I'll try implementing it myself. Any guidance will be useful.

jrgnicho commented 8 years ago

Are you implementing this for a specific robot?

robosamir commented 8 years ago

I have a 5DOF arm for which TranslationDirection5D doesn't work but these IK types do.

jrgnicho commented 8 years ago

This repo only provides tools for wrapping an ik closed form solution into a moveit KinematicsBase subclass. In order to generate the ik solution you can use the openrave tools as described here. As far as I know openrave is very flexible and can solve the ik for arms with varying kinematic configurations. However, I've only used it with 6DOF arms with with a spherical wrist configuration but I'd advice to try and see if it can generate one for your robot.

robosamir commented 8 years ago

Yes, I understand that. Anyways, I implemented the logic for IKP_TranslationXAxisAngle4D/IKP_TranslationYAxisAngle4D/IKP_TranslationZAxisAngle4D in the template file. I can make a PR if you are interested. This issue can be closed.

v4hn commented 8 years ago

@robosamir do that please. Evidence that your implementation actually works (e.g. a moveit config for such a robot) would be highly appreciated!