Why is there a difference between get_inverse_kin and is_within_safety_limits?

[Ebbe]

I have posted a workaround in this post:

Inconsistent behaviour of is_within_safety_limits and get_inverse_kin

Software version:5.6 Robot generation: E-series (not tested on CB-series) Steps to reproduce: We have identified a bug that makes it almost impossible to run our program properly on physical robots. The documentation about is_within_safety_limits says “If a solution is found when applying the inverse kinematics to the given target TCP pose, this pose is considered reachable.” However, it seems that is_within_safety_limits does NOT use the actual calibration data, while get_inverse_kin does …