Driving a UR10 with IK.

[Ashkanpy]

Hello everyone. I have a problem with the movement of an arm robot (UR10) with a differential Inverse kinematics in a project. I want the arm to be driven only with DIK, but the end-effector does not reach the desired position. It seems like Agent and DIK are in conflict. I would appreciate any help. Here is the link to the Python file that runs the project: https://github.com/Ashkanpy/Pick-place/blob/main/reach_env_cfg.py