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How to add pole targets to IKFast solvers?

Hi, I recently compiled my first ikfast solver and managed to create a wrapper for python to display the solver in a 3d viewport. Everything is working exactly as expected and the end effector is moving to the desired target position.

However my question is how can I control the "elbow" of the robot arm so that the elbow joints track to a pole targets instead of moving freely?

I have seen in Blender the IK solvers include a pole target option, does IKFast have any option for including pole targets similar to Blender's IK solvers?

Asked by LIDAR on 2023-05-30 09:44:28 UTC

Comments

I'm sorry, but this doesn't read like a ROS question.

While we do use IKFast in ROS, IKFast itself is a stand-alone project, and I would assume none of the IKFast developers / maintainers frequent this forum.

I would suggest to post your question on a more suitable forum.

Asked by gvdhoorn on 2023-05-31 02:16:41 UTC

Why did you have to close the question? I am new here but I asked a question that pertains to robotics and even the tags were completely on topic. This is why I rather use SO and see lots of users complaining about ROS forums, I can see the community is not welcoming. I just wanted to learn about building robotic systems. Sorry my question was so off topic it had to be closed. Also the IKFast forums is no longer maintained so I thought maybe this place would be a helpful alternative. Apparently I was wrong. Thanks @gvdhoom for your heartfelt response and for closing my first post. Hope you have a great week.

Asked by LIDAR on 2023-05-31 04:53:26 UTC

Why did you have to close the question?

as I wrote, while your question is about something we use with ROS, it's not a question about ROS.

I am new here but I asked a question that pertains to robotics and even the tags were completely on topic.

ROS Answers is not a forum for general robotics related questions. It's specifically for users of ROS. And while IKFast is definitely something we use with ROS (in certain contexts), your question reads like it's purely about IKFast, which would make it off-topic here.

This is why I rather use SO and see lots of users complaining about ROS forums, I can see the community is not welcoming

to be honest, I get the impression here you're overreacting a bit.

I clearly explained why your question is off-topic and apologised for having to close it. I kept it 'professional', not resorting to ad-hominems nor involving anything not just purely about the question text.

I can fully understand you may not like the fact the question was [..]

Asked by gvdhoorn on 2023-05-31 05:15:49 UTC

[..] closed, but with almost 30000 unanswered questions already, it pays to try and keep things on-topic as much as possible.

Would you rather keep your question open and then not receive any responses?

That'd be fine by me. Just let me know and I'll re-open.

Also the IKFast forums is no longer maintained so I thought maybe this place would be a helpful alternative.

you already mentioned Stack Overflow. That would seem like a better venue in my opinion.

And you might be happy to learn ROS Answers will be closed and everything migrated to Robotics Stack Exchange.

Thanks @gvdhoom for your heartfelt response and for closing my first post. Hope you have a great week.

same to you.

Please don't let my faux pas here (which it apparently was) influence your opinion about the larger ROS community. They're all rather OK ppl.

Asked by gvdhoorn on 2023-05-31 05:22:37 UTC

Looks like you need to close this question: #q65940

And maybe this one too: #q203119

Should I keep searching?

Asked by LIDAR on 2023-05-31 18:04:04 UTC

Looks like you need to close this question: #q65940

That one is specifically about generating an IKFast solver for MoveIt, which is (just about) a central part of ROS.

And maybe this one too: #q203119

Same thing: that question is about setting up the ROS interfaces/API for a Nao (which can include an IKFast plugin), which, through ros-naoqi, has dedicated ROS support.

Should I keep searching?

I'll give you a serious answer: yes, if you come across questions that are off-topic, you could report them and a moderator may look at it when/if they have an opportunity.

Note that this would be no different from how Stack Overflow/Stack Exchange operates -- or any forum for that matter I believe.

Asked by gvdhoorn on 2023-06-01 03:35:53 UTC

I have been trying for over a week to generate a iksolver so I may learn how to get started with ROS using my robot, you singled out my question because I mentioned Blender i guess.

Asked by LIDAR on 2023-06-01 17:43:22 UTC

This will be my last comment here.

Just to clarify: I did not give you any special attention, nor did I "single out" your question.

Don't make (nor take) this personal. All questions and users are equal, and I try to be objective when moderating. If @tfoote would post an off-topic question, I'd close that as well.

I have been trying for over a week to generate a iksolver so I may learn how to get started with ROS using my robot

I'd suggest you post a new question and describe your problems. Please provide sufficient detail as to what you're trying to do, which ROS packages you're using, which tutorials/guides your following, what happens, what you believe should happen and what you've tried already.

If your new question is clearly about ROS, where you try to use IKFast, it would be more than welcome here on ROS Answers.

Asked by gvdhoorn on 2023-06-02 00:12:16 UTC

Answers