Robot strange behavior with OMPL

[pr2001]

Hello
I'm trying to use coppelia's ompl planners
After seeing the existing examples, I modified them for the robot that I decided to test.
After getting things working, I needed to place the manipulator arm on top of a linear guide.
That's when I discovered some really strange errors.
When the robot is outside the linear guide (in the tree), paths are found that lead to the desired location.
When I place the robot inside the linear guide (on the tree) the positions found from there no longer coincide with those intended.
Another very strange thing is that when you put the linear guide in dependent mode, the positions found return to the correct ones.
However, when the guide is in dynamic mode (which is the mode I need to use) this error appears again.
Has this happened to anyone else?
Can anyone help?
I feel like I've already printed almost every line of code one by one trying to see if there is any difference but they always give the same outputs.
I'll try to post some photos to explain what happens.
https://ibb.co/bWpBKQF
https://ibb.co/rGSvYPy
https://ibb.co/sqWj537

[fferri]

When the robot is outside the linear guide (in the tree), paths are found that lead to the desired location.
When I place the robot inside the linear guide (on the tree) the positions found from there no longer coincide with those intended.

I don't really understand any of that; but usually, when some configurations are not found, the robot is in self-collision.
You can doublecheck that with sim.checkCollision, or with the add-on (Geometry -> Check Collision).