vc_set_cartesian_velocity() throws C21 Kinematic Error on 50mm/s speed.

[GopalSir]

When trying to translate on x-axis with target velocity of 50mm/s, aka vc_set_cartesian_velocity(50,0,0,0,0,0,is_tool_coord=True), starting from home position,

1. The robot immediately throws kinematic error C21 after a small jerk.
2. Same happens with pure yaw rotation of 10 deg/s. vc_set_cartesian_velocity(0,0,0,0,0,20,is_tool_coord=True).
3. I send the command only once.

I'm sure 5 cm per second forward translation is nowhere pushing the joints to their limits, because I'm able to easily extend the arm with 2cm/s of velocity in same direction. But 5cm immediately throws errors.

bimanual_network_client.py
bimanual_network_server.py

[GopalSir]

Model: xArm Lite 6

[penglongxiang]

Hi @GopalSir, the home position for lite6 is actually near singularity due to its kinematic structure, the jacobian based IK solution may not be so stable near singularity especially when given velocity is large.

Please check if the "use approximate solution" is switched on in UF Studio settings, it will help alleviate the issue with small adjustment of orientation when crossing singularity points.