Singularity problem in using xarm_moveit_servoing

[Akumar201]

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I am trying the new xarm_moveit_servoin package. While using this I am facing a lot of singularity warning and it stops moving suddenly. How can I avoid or reduce this, any help would be much appreciated.

[vimior]

@Akumar201 That may be related to the configuration of moveit_servo or even the IK algorithm used by moveit. It is especially easy to encounter singularity near the zero point, or you can adjust the lower_singularity_threshold and hard_stop_singularity_threshold in the configuration to see if it can be improved, or replace the IK algorithm configuration or avoid it. control near zero.

[Akumar201]

Hi, thank you for the response. I am using bio_ik and playing around lower_singularity_threshold and hard_stop_singularity_threshold. I would to know is there any specific pose for XArm6 that would be optimum to avoid singularity withing a workspace near to it's tip approx cuboid of (20cmX20cmX20cm) ?