Incorrect implementation of the ikine_6s method for the Puma 560 #491

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Nikolay-Zagrebin opened this issue Apr 16, 2025 · 0 comments

Nikolay-Zagrebin commented Apr 16, 2025 •

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When calculating with the tool, the inverse matrix of the tool is subtracted as if it were a base, it should be the other way around.

def ikine_6s(self, T, config, ikfunc):
....
if tool is not None:
T = tool.inv() * T

Must be T = T * tool.inv()

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