[SamuelEStreamline]

Hello,

I'm getting unwanted robot configurations for some cartesian targets. Multiple robot configurations are possible but when the cartesian target is created via the Python API, the default robot configuration is unwanted. I can manually change the teach position to get the desired robot joint values at the target but I would like to be able to control this via the API. Any suggestions?

Unwanted Configuration:
   

Desired Configuration:
   

[Albert]

If your goal is to use the API to choose a different configuration I recommend you to use the funtion SolveIK_All. You can find more information here:
https://robodk.com/doc/en/PythonAPI/robo...olveIK_All

[SamuelEStreamline]

If your goal is to use the API to choose a different configuration I recommend you to use the funtion SolveIK_All. You can find more information here:
https://robodk.com/doc/en/PythonAPI/robo...olveIK_All

Thanks Albert,

I will look into this.

[SamuelEStreamline]

Albert, my programs need to use accurate robots. Does it seem valid to you if I disable robot accuracy using `robot.setAccuracyActive(accurate=0)` then use `robot.SolveIK_All()` to get multiple solutions, then filter the solutions based on the acceptable configuration state, and then enable robot accuracy again before generating the associated robot program?

[Albert]

Yes, this is a perfectly valid solution.

I recommend you to use JointsConfig to get the configuration flags (such as front or back, upper arm or lower arm, flip and non-flip). You can also create a custom filter in the joint space.

[SamuelEStreamline]

Yes, this is a perfectly valid solution.

I recommend you to use JointsConfig to get the configuration flags (such as front or back, upper arm or lower arm, flip and non-flip). You can also create a custom filter in the joint space.

Ok thank you Albert. Yes I plan to use `JointsConfig` per solution and compare to my desired configuration state in order to filter the solutions.

Thank you!