[Bug]: Inverse Kinematics (IK) Multiple Solutions Control in Genesis AI

[coghks625]

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Bug Description

Hello,

I have a question about the inverse kinematics (IK) solver in Genesis AI. As far as I know, the current implementation of the IK solver finds a solution that falls within a specified error margin and then outputs the corresponding forward kinematics (FK) values.

However, since IK generally has multiple solutions, is there an option in Genesis AI to control the solution by specifying the values of joints such as the shoulder, elbow, or wrist? This would allow me to achieve the desired configuration for the robot arm.

Thank you for your time.

Steps to Reproduce

    qpos = kuka_rb.inverse_kinematics(
        link=kuka_end_effector, 
        pos=target_pos_tensor, 
        quat=target_quat_tensor, 
        max_solver_iters=1000, 
        rot_tol=0.0000001,
        pos_tol=0.0000001
    )

Expected Behavior

If the IK solver is provided with a target position and orientation, it should return an array of possible solutions (multiple joint configurations) instead of just one.

The user should be able to specify a preferred joint angle range for certain joints (like shoulder, elbow, or wrist) to guide the solver towards the desired solution.

Alternatively, the user should be able to set a priority or weighting for each joint to influence the final solution selection.

Screenshots/Videos

No response

Relevant log output

Environment

• OS: [Ubuntu 20.04]
• GPU/CPU [RTX 3090]

Release version or Commit ID

0.2.1

Additional Context

No response