[alexander.ri]

Hello,

I am currently working with a lot of different robots from your library, and I noticed that the robot ABB IRB 6700-205/2.80 is not returning any kind of information after using SolveIKAll() on it. I tested my program on other robots, which worked just fine. These robots were: "ABB-CRB-1300-7-1-4; ABB-CRB-1300-11-0-9; ABB-IRB-1100-4-0-475;" and a few more. 

Have a great Day and best Regards, 
Ritter Alexander :)

[Albert]

I don't see any issues calculating the inverse kinematics of the robot ABB IRB 6700-205/2.80. Keep in mind that the SolveFK and SolveIK functions require the pose of the robot flange with respect to the robot base.

Maybe the issue is that you are providing an invalid pose?

I tested with the following code, which takes the current robot position:

Code:

# Program example:
robot = RDK.Item('ABB IRB 6700-205/2.80')
for sol in robot.SolveIK_All(robot.SolveFK(robot.Joints())):
    print(sol)

The result is:

Code:

[10.000000000000005, 20.00000000000002, 29.999999999999993, 40.00000000000002, 49.999999999999986, 59.99999999999996, 10.0, 4.263256414560601e-14]
[10.000000000000005, 20.00000000000002, 29.999999999999993, -139.99999999999997, -49.999999999999986, -120.00000000000004, 10.0, 180.00000000000006]
[-170.0, -44.41973085609205, -150.02774272348174, -149.95075660202744, 79.52813741417803, 82.33855975498986, 10.0, 189.95075660202744]
[-170.0, -44.41973085609205, -150.02774272348174, 30.049243397972557, -79.52813741417803, -97.66144024501014, 10.0, 180.02774272348174]
[10.000000000000005, 20.00000000000002, 29.999999999999993, 220.00000000000003, -49.999999999999986, -120.00000000000004, 0.0, 180.00000000000006]
[-170.0, -44.41973085609205, -150.02774272348174, 210.04924339797256, 79.52813741417803, 82.33855975498986, 0.0, 180.02774272348174]
[10.000000000000005, 20.00000000000002, 29.999999999999993, 40.00000000000002, 49.999999999999986, -300.00000000000006, 0.0, 360.00000000000006]
[10.000000000000005, 20.00000000000002, 29.999999999999993, -139.99999999999997, -49.999999999999986, 239.99999999999994, 0.0, 179.99999999999997]
[-170.0, -44.41973085609205, -150.02774272348174, -149.95075660202744, 79.52813741417803, -277.6614402450101, 0.0, 337.6614402450101]
[-170.0, -44.41973085609205, -150.02774272348174, 30.049243397972557, -79.52813741417803, 262.3385597549899, 0.0, 202.3385597549899]
[10.000000000000005, 20.00000000000002, 29.999999999999993, 220.00000000000003, -49.999999999999986, 239.99999999999994, 0.0, 180.00000000000003]
[-170.0, -44.41973085609205, -150.02774272348174, 210.04924339797256, 79.52813741417803, -277.6614402450101, 0.0, 337.6614402450101]