Solution: Using Mech-Viz collision detection, the project run completed without reporting collisions with the scene, but the real robot collided, and the planning history also collided

The Mech-Viz project did not report scenario collisions indicating that there was no problem with the planning.
Collisions occur in both the planning history and the real robot due to the fact that the Eulerian angular pose inverse is solved incorrectly in both the real robot and the planning history, which can be solved by sending waypoints in the form of joint angles to the robot.