{"action":"created","issue":{"url":"https://api.github.com/repos/ros-industrial/universal_robot/issues/155","labels_url":"https://api.github.com/repos/ros-industrial/universal_robot/issues/155/labels{/name}","comments_url":"https://api.github.com/repos/ros-industrial/universal_robot/issues/155/comments","events_url":"https://api.github.com/repos/ros-industrial/universal_robot/issues/155/events","html_url":"https://github.com/ros-industrial/universal_robot/issues/155","id":55240591,"number":155,"title":"Question about IKFast & UR arms","user":{"login":"TheDash","id":1786601,"avatar_url":"https://avatars.githubusercontent.com/u/1786601?v=3","gravatar_id":"","url":"https://api.github.com/users/TheDash","html_url":"https://github.com/TheDash","followers_url":"https://api.github.com/users/TheDash/followers","following_url":"https://api.github.com/users/TheDash/following{/other_user}","gists_url":"https://api.github.com/users/TheDash/gists{/gist_id}","starred_url":"https://api.github.com/users/TheDash/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/TheDash/subscriptions","organizations_url":"https://api.github.com/users/TheDash/orgs","repos_url":"https://api.github.com/users/TheDash/repos","events_url":"https://api.github.com/users/TheDash/events{/privacy}","received_events_url":"https://api.github.com/users/TheDash/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":11,"created_at":"2015-01-23T03:21:44Z","updated_at":"2015-01-23T17:25:38Z","closed_at":null,"body":"Does there exist a working implementation of OpenRave's IKFast system for UR10 & UR5 arms? Just curious before I start hacking away on one!"},"comment":{"url":"https://api.github.com/repos/ros-industrial/universal_robot/issues/comments/71229652","html_url":"https://github.com/ros-industrial/universal_robot/issues/155#issuecomment-71229652","issue_url":"https://api.github.com/repos/ros-industrial/universal_robot/issues/155","id":71229652,"user":{"login":"TheDash","id":1786601,"avatar_url":"https://avatars.githubusercontent.com/u/1786601?v=3","gravatar_id":"","url":"https://api.github.com/users/TheDash","html_url":"https://github.com/TheDash","followers_url":"https://api.github.com/users/TheDash/followers","following_url":"https://api.github.com/users/TheDash/following{/other_user}","gists_url":"https://api.github.com/users/TheDash/gists{/gist_id}","starred_url":"https://api.github.com/users/TheDash/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/TheDash/subscriptions","organizations_url":"https://api.github.com/users/TheDash/orgs","repos_url":"https://api.github.com/users/TheDash/repos","events_url":"https://api.github.com/users/TheDash/events{/privacy}","received_events_url":"https://api.github.com/users/TheDash/received_events","type":"User","site_admin":false},"created_at":"2015-01-23T17:25:38Z","updated_at":"2015-01-23T17:25:38Z","body":"Conclusion from this discussion: IK/FK exists for UR arms. But are broken and slow in unlimited joint space and does not work in limited joint space. \r\n\r\nActions: fix the IK/FK so that it's better in unlimited joint space? is that an inherent problem of the algorithm being used or the programming is wrong for it?\r\n\r\nShould we be porting this to IKFast if that works, or looking for different optimization algorithms?"}}