ADVANTAGES

I have another question. With the movej command (using JointPositions) in urscript, I expected that the robot would always go to the specified JointPositions. However, it appears that the robot will instead perform forward kinematics to determine the ToolPose, and will then perform inverse kinematics to find the optimal path to that ToolPose. This behavior can cause the robot to physically collide with other objects in its vicinity, which is why I wanted to specify joint angles in the first place.

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