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caelan / pybullet-planning

PyBullet Planning
https://pypi.org/project/pybullet-planning/
MIT License
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Multiple IK solutions #8

Closed prajwalresearch closed 2 years ago

prajwalresearch commented 3 years ago

Hello, Thanks for such a great library. I have a problem where I do not know the current joint config and I am required to get multiple Ik solutions of Franka panda given the current end-effector position and orientation. I looked up the ikfast.py file and there I found pybullet_inverse_Kinematics function . if I set max-attempts arg greater than 1 would I will be able to get multiple Ik solutions? If not can you help how can I get multiple Ik solutions then for such a problem? Thanks

caelan commented 2 years ago

Yes, and max_attempts=INF will return an (infinite) generator of solutions.