Orientation Discrepancies in Inverse Kinematics

[ben020-beep]

Hello there,

I am currently working with the library to address the inverse kinematic problem and calculate angles for a six-axis robot. However, I've encountered an issue where the orientation does not behave as expected. When I set the target position, target orientation, and the axis of orientation, the inverse kinematics are solved, and the position is reached successfully. However, the orientation does not align as desired. Even when I specify starting angles to guide the calculation, the orientation sometimes deviates significantly.

Despite providing ample freedom through the limitations, achieving the desired orientation and position remains a challenge. I wonder if anyone has encountered a similar issue or knows how to address it. Any guidance or solutions would be greatly appreciated.