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roboticsleeds / ur5controller

OpenRAVE Controller Plugin for UR5 (Universal Robots UR5) Robot
GNU General Public License v3.0
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Unique IK solution #12

Closed robopassio closed 3 years ago

robopassio commented 3 years ago

For other robots, we can get multiple IK solutions. However, for UR5, I only can get one IK solution for every configuration using:

ik_solution = self.robot.manipulator.FindIKSolution(start_transform, IkFilterOptions.CheckEnvCollisions)

Is that normal with UR robots? I have tried to change the flag CheckEnvCollisions but nothing change.

rpapallas commented 3 years ago

Did you try FindIKSolutions (note the s)?