[hugo.costelha]

Hi Albert,

Thanks for your reply. The example we sent was a shorter example to demonstrate what we were referring to. In practice, we are using the "SolveIK_All(pose, tool=None, reference=None)", and we are passing the "tool=robo.PoseTool()" and "reference=robot.poseFrame()" arguments in our original code (but we were not passing those arguments in the SolveFK part). Using these arguments, it takes into account the tool and reference frame, right? The same for the SolveFK, we can pass the arguments "tool" and "reference", and it should take them into account, right?

We just tried using the SolveFK with those arguments, and it seems to be working as expected now.

Thanks and regards.