Forums › Niryo One › Troubleshooting › Niryo_one Studio move pose needs variables & Shift leaves position errors › Reply To: Niryo_one Studio move pose needs variables & Shift leaves position errors
In fact, all the “move” functions are directly linked to the “move” function of Moveit!, the motion planning library for ROS that we use.
You can find the doc here, and see more info about “move_pose_target”, “move_joint_target”, and “move_shift_target”.
It does make sense for Moveit to add a Shift pose starting from current position. Though I agree that on Niryo One, as the robot is not so precise as an industrial robot, the function is quite limited. Also I guess that they didn’t develop a “shift pose from current target” because that’s something totally doable in the code where you use the Moveit library.