03-29-2023, 09:17 AM
SolveFK calculates the position of the robot flange with respect to the robot base (not the active tool and reference frame).
You should therefore calculate the target pose using this formula (line 40 of your example):
You should therefore calculate the target pose using this formula (line 40 of your example):
Code:
pose = ROBOT.PoseFrame() * ROBOT.SolveFK(joints) * ROBOT.PoseTool()