movej(get_inverse_kin(p[-0, -0.25614, 1.4273, 0, 2.22144, -2.22144]), a=1.4, v=1.05, t=0, r=0)
When you write the script and run the program as shown above, an error similar to the title appears.
p is home position at Move tab.
If you modify the p, the robot moves normally.
The same applies when you use the joins value that corresponds to the home position as qnear. [0, -1.57, 0, -1.57, 0, 0]
Ask for help.
The home position is at the full stretch of the robot arm.
I reckon the get_inverse_kin() function does not find a solution, simply due to tolerance/deviation in some of the final digits, that make the resulting position borderline the actual reach of the robot.
Thank you for answer.
I solved it just by entering the joints value.
how would I be able to check if position is reachable? If I try to use get_inverse_kin() for unreachable position, Polyscope shows a dialog window and stops the program. How should I handle that?
You could eventually check your pose before moving using the is_within_safety_limits(pose) function
Thanks. I didn’t see that function before.