[Shigeaki Takatsu]

Hello,

I am using a FANUC CRX-10iA with RoboDK 5.6.7.

I found the existing forum threads explaining that multiple configurations are
not currently supported for FANUC CRX robots.

I would like to know whether there is any alternative way to obtain all valid
inverse-kinematics solutions for a given Cartesian pose.

In my test, SolveIK_All() returns only one solution.

However, I confirmed that another valid joint posture exists for exactly the
same Cartesian pose. I verified this using SolveFK(), and the pose difference
was effectively zero.

I also tried SolveIK() with the other valid joint posture provided as
joints_approx, but RoboDK still returned the same single solution.

Is there any alternative API, solver, robot model setting, or recommended
method to obtain all valid IK solutions for the CRX-10iA?

Thank you.