[frfournier]

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()
关节= robot.SolveIK_All(pose)

But with a Fanuc M-10iD/12 the关节result 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 theJointsConfig功能和发送一个连接t 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,