解决for a given configuration - Printable Version

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解决for a given configuration-frfournier-06-23-2020

Hi,
I am looking for an efficient way of solving the IK of a pose but in a specific arm configuration (ex: NUT001 for Fanuc).

        Code:

        import robolink

rdk = robolink.Robolink()
robot = rdk.Item("", robolink.ITEM_TYPE_ROBOT)
pose = robot.Pose()
joints = robot.SolveIK_All(pose)
       

But with a Fanuc M-10iD/12 thejointsresult matrix from the code above is of size (8,15). The documentation states size float x n x m. On my robot n=6, so why is the matrix of size 8? The array is column-ordered so I have for my example 15 solutions to filter.

        Code:

        robot.JointsConfig(joints[:,0])

But when using theJointsConfigfunction and sending one Joint solution, the expected result vector of size 3 [REAR, LOWERARM, FLIP] is of size 4 instead.

What is the meaning of the extra undocumented information in the results of SolveIK_All and JointsConfig?

RoboDK 4.2.4.16571
RoboDK API robodk-5.0.0-py3
Thank you,