[SamuelEStreamline]

Yes, you can recalculate the target joints by first making the target a Cartesian target, let RoboDK recalculate the joints and then change it to a Joint Target.

This example shows the concept:

Code:

target.setAsCartesianTarget()
target.setPose(new_pose)
target.setParam("Recalculate")
target.setAsJointTarget()
new_joints = target.Joints()

This is wonderful! Thank you so much Albert!