Real UR5e wrong IK and collision with MoveIt

[rrapi]

Hello everyone,

I am a master science student and for my thesis I am working on a UR5e robot with a Robotiq 2f 85 gripper directly attached. In this project I have to grasp some objects in different positions and orientations, so for this reason I am using MoveIt to get directly the Inverse Kinematics of a desired position and orientation depending on the object detected. But when I send the Pose goal = [0.2554, 0.5753, -0.65, 2.6285, -0.0219, 2.1827] to the robot, the Pose is in front of the robot, so it would be easy to reach for him, but often he wants to reach this Poses doing some joint movements (for example going behind or rotate a lot of times) that makes him to collide with some object in the environment. I tried various planners as RRTConnect, PRM or TRRT but no one worked well and with no collisions.

Could you suggest me a solution please? Maybe to use another planner that works different and is fine in this case, some parameter changes or to set like some space movement allowances.

Could you please help me to solve this problem? Thank you very much in advance!

Best regards, Franci