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Multiple solutions from IK solver?

ik
get_ik

asked 2011-06-19 10:50:10 -0600

Nash

207 ●9 ●10 ●19

Is it possible to obtain multiple IK solutions for all the joints of an arm from the IK Solver (pr2_right_arm_kinematics/get_ik) for one specific pose of a link (i.e. r_wrist_roll_link)?

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answered 2011-06-28 12:42:52 -0600

Sachin Chitta
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Yes, this is possible. You can call the service multiple times with a different state in the ik_seed_state each time and it should give you different solutions.

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Asked: 2011-06-19 10:50:10 -0600

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Last updated: Jun 28 '11

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