Forums Niryo One Troubleshooting Hello, some personal questions… Reply To: Hello, some personal questions…

Edouard Renard
Keymaster
Post count: 234

The end effector tools are not part of the motion planning, here is the part of the robot that is considered to be the TCP (Tool Center Point) for planning

Tools are not included in the robot model, hence not available in Moveit. As for why we chose to do that, here’s a complete discussion on GitHub 🙂

So if you change tool, yes you might need to add an offset to all commands to get to the same position.