We have a UR10 mounted on a table. Occasionally, when moving to a calculated pose, the robot will choose a joint configuration that attempts to move the elbow below the table during motion to the point. It does not always do this, even for the exact same point; usually the robot will pick a joint configuration keeping the elbow above the table.
Is there a way to control the joint configuration of a pose? Or is there at least a way to have the elbow avoid the table? I've looked into safety planes, but it seems like that only looks at TCP and not the intermediary joints.