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Multiple solutions from IK solver?

asked 2011-06-19 10:50:10 -0500

Nash gravatar image

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 -0500

Sachin Chitta gravatar image

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 -0500

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Last updated: Jun 28 '11