[StefanoCava]

Hi, I'm having some problems using calibrated kinematics.
I imported the robot calibration by loading a urp created on the teach pendant via the UR_LoadControllerKinematics script.
I don't understand the reason why I only see one joint configuration available (no matter what the position is) when Parameters>Use controller kinematics is checked, whereas I see multiple joint configurations for the exact same position when it is unchecked.
I attached a simple example project. Thanks

[Albert]

When you activate accurate kinematics (or the controller kinematics you can load from a URP file from a UR robot controller), it requires using an iterative inverse kinematics. Therefore, there is only one solution when applying inverse kinematics.

If needed, you could use the API to iterate over all solutions you obtain when using the nominal kinematics, choose the preferred joint configuration. Then, you can apply the controller kinematics to the chosen solution.