Issue to reach position AND orientation (3axes) target

[Benjamin797]

Issue to reach position AND orientation (3axes) target

[Benjamin797]

One solution I found is the randomly change the inital position for each joint and iterate the resolution until the position and orientation is reached (with a cost fonction that compare the real position/orientation computed with the exepected one). Althought this method takes a really long time (1 minute sometimes) to reach the target wanted. Normally, if Ikpy workd for orientation_mode = all, i shoudln't iterate like that, one execution of the inverse_kinematic function should be enough. Is this orientation_mode really works?
Thank you

[niklasconbotics]

Hi Benjamin,
I have the same problem! can you provide the code? Or did you found a more convinced solution?