UDC Robot can't enable/disable axis

[ManuelT]

Hi, I'm a new user of MS, and all I can say is that it's awesome! I've been creating a lot of UDCs, and they work great!.
Right now, I'm trying to create my own 6-axis robot UDC with an IK function. It works really well, but I can't control the tool orientation like a real robot.
(Info: https://knowledge.motoman.com/hc/en-us/articles/4406621152535-What-is-robot-orientation)
Maybe a solution is to enable or disalble axis to reach a "specific pose" like the robot called "Industrial robot" in MS but I don't know why in UDC I don't have that option.
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I tried to do rotations to the IK_target but it seems to me like the IK function only works with vector3 position.

Anyone can help me?, thanks.

[EasyPLC_Master]

Hi Manuel!
At the moment it is not possible to force the IK nodes orientation.
We're working on it, in order to add this new feature in the new releases.

Thank you for sharing your needs!

[ManuelT]

Thank you, EasyPLC_Master! I really appreciate the work of Nirtec's developers!
I partially solved the issue by adjusting the IK_Weight nodes until I reached the desired position—or something close to it. It's not exactly the same, but for now, it's the easiest solution I've found.