"Never mind. I found it in line 187, "Plane TempPlane = ElbowPlane;". In Rhino Common this has to be "TempPlane = Rhino.Geometry.Plane(ElbowPlane)" not "TempPlane = ElbowPlane" otherwise ElbowPlane gets transformed…"
"Hello everyone! Thanks Daniel for sharing this great tool! I'm a student and new to robotics. We are using two ABB IRB 4600_40_255. I have rewritten your C# code in Python, because me and our group are more familiar with the language.…"