[Kenn_Tran]

Why is it that when I sometimes use SolveIK even with a provided joint reference the robot will try to do weird joint movements just to get to position?

The positions I would want the robot to move to are in front of it with the 6th joint being the only one needing to rotate the whole -360 to 360 range.

Original joints
   

Joints after applying solveik
   

I've attached an example rdk with all the positions I want the robot to move towards from solveik

[Albert]

One way to obtain the joint values that are closer to the current location is to provide the current robot joints to the SolveIK function.

Example:

Code:

joints = robot.SolveIK(pose_base_to_flange, robot.Joints())

Another option is to use the SolveIK_All function to obtain all possible solutions and filter for your preferred option.

You can find more information here:
https://robodk.com/doc/en/PythonAPI/robo...em.SolveIK