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Been wrestling with a kinematic model lately and it's just... not doing what I expect. The inverse kinematics solver keeps getting stuck in weird configurations, even for relatively simple poses. I've double-checked the DH parameters and joint limits, but I'm still getting strange behavior.
Has anyone else run into similar issues? What are some common pitfalls or debugging techniques you've found helpful when your kinematic model goes rogue? I'm starting to suspect there might be a singularity issue lurking somewhere, or maybe I'm missing something essential about the coordinate system transformations. Such as, I had one instance where the rotation matrices weren't consistently applied, which lead to entirely unpredictable results, especially near joint limits. Any tips or experiences would be greatly appreciated!