[Maarten]

I think you can use SolveIK_All() for that:

//www.sinclairbody.com/doc/en/PythonAPI/robo...olveIK_All

Code:

robot = RDK.Item('YourRobot',ITEM_TYPE_ROBOT)
all_solutions = robot.SolveIK_All(robot.Pose(),robot.PoseTool(),robot.PoseFrame())
print(repr(all_solutions))