The behavior observed in the IK designer app is an expected behavior. This is because the inverse kinematic solver uses weighted optimization. The target end pose contains both target position and orientation, and the weighted optimization gives equal weightage to both by default leading to a solution that doesn't hit the Y-position target. In case the position is of higher priority, you can set the weightage for orientation to 0 or a small value. The workflow for setting the weightage is as follows:
- Right-click on the Marker Pose Target.
- Select "Edit Constraint".
- Set the Orientation Weight from 1 to 0 (or any other desired value). You may also consider modifying other parameters of the constraint for meeting your objectives.
- Exit the text box, then click "Apply"
The relevant documentation, with the relevant section highlighted, can be found below:
After these changes, the robot should behave as expected. Additionally, the aforementioned workflow can also be achieved using Inverse Kinematics MATLAB class, which can help achieve finer control of the constraint parameters.
