def get_ik_solutions(self, manip_name, trans, use6d=True):
    manip = self.env_body.GetManipulator(manip_name)
    if use6d:
        iktype = IkParameterizationType.Transform6D
    else:
        iktype = IkParameterizationType.Translation3D
    solutions = manip.FindIKSolutions(IkParameterization(trans, iktype), IkFilterOptions.CheckEnvCollisions)
    return solutions
def get_ik_solutions(self, manip_name, trans, use6d=True):
    manip = self.env_body.GetManipulator(manip_name)
    if use6d:
        iktype = IkParameterizationType.Transform6D
    else:
        iktype = IkParameterizationType.Translation3D
    solutions = manip.FindIKSolutions(IkParameterization(trans, iktype), IkFilterOptions.CheckEnvCollisions)
    return solutions