[Mud]

Hi, using the IItem SolveIK_All method (with the NuGet 5.6.2 dependency) I don't understand the returned data - the returned matrix rows are greater than the number of joints. What do these extra values correspond to? 

For example, if I open a new station, put in a robot (here, arbitrarily, a KUKA KR8 R 2010), and call:

{...code to select robot...}
Mat pose = robot.Pose();
Mat test = robot.SolveIK_All(pose);

test is a double[8,22], as follows:

{ 0.00  0.00  0.00 -180.00 -180.00 -180.00 -180.00 180.00 180.00 180.00 180.00  0.00 -180.00 -180.00 180.00 180.00  0.00 -180.00 -180.00 180.00 180.00  0.00
-90.00 -15.45 -15.45 -162.67 -162.67 -109.81 -109.81 -162.67 -162.67 -109.81 -109.81 -15.45 -162.67 -109.81 -162.67 -109.81 -15.45 -162.67 -109.81 -162.67 -109.81 -15.45
90.00 -70.21 -70.21 66.30 66.30 -46.51 -46.51 66.30 66.30 -46.51 -46.51 -70.21 66.30 -46.51 66.30 -46.51 -70.21 66.30 -46.51 66.30 -46.51 -70.21
-0.00 -0.00 180.00 180.00 -0.00 180.00 -0.00 180.00 -0.00 180.00 -0.00 -180.00 -180.00 -180.00 -180.00 -180.00 180.00 -0.00 -0.00 -0.00 -0.00 -180.00
0.00 85.67 -85.67 83.63 -83.63 23.68 -23.68 83.63 -83.63 23.68 -23.68 -85.67 83.63 23.68 83.63 23.68 -85.67 -83.63 -23.68 -83.63 -23.68 -85.67
0.00  0.00 -180.00  0.00 -180.00  0.00 -180.00  0.00 -180.00  0.00 -180.00 -180.00  0.00  0.00  0.00  0.00 180.00 180.00 180.00 180.00 180.00 180.00
10.00 10.00 10.00 10.00 10.00 10.00 10.00  0.00  0.00  0.00  0.00  0.00  0.00  0.00  0.00  0.00  0.00  0.00  0.00  0.00  0.00  0.00
0.00 160.21 180.00 180.00 180.00 180.00 180.00 180.00 180.00 180.00 180.00 180.00 180.00 180.00 180.00 180.00 180.00 180.00 180.00 180.00 180.00 180.00
}

[Sam]

For some 6-axis robots, SolveIK_All returns 2 additional values that can be ignored.

More information here:
https://robodk.com/forum/Thread-SolveIK-...3#pid13053

[Mud]

Ok, thanks - is there some use case for the additional values?

[Albert]

You can ignore the additional values provided by the SolveIK function. They may be removed in future versions of RoboDK.