Forums Niryo One Troubleshooting Move Pose error

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  • FindingNiryo
    Participant
    Post count: 88

    Move Pose (0.22,-.194,-0.11,0,0,0)
    yields X axis error of 7mm
    x : 0.213
    y : -0.194
    z : -0.011
    Move Pose (0.3,-.194,0.1,0,0,0)
    yields X axis error of 7mm
    x : 0.293
    y : -0.194
    z : 0.100
    Move Pose (0.3,0.2,0.1,0,0,0)
    yields X axis error of 7mm
    x : 0.293
    y : 0.200
    z : 0.100

    FindingNiryo
    Participant
    Post count: 88

    Move Pose (0,0.257,0.1,0,0,0.157)
    yields Y axis error of 7mm
    x : 0.000
    y : 0.250
    z : 0.100

    Edouard Renard
    Keymaster
    Post count: 192

    Thanks for noticing that.

    I can confirm the offset of 7 mm between the command and the measured joint states (even with the simulation).

    I’ve added that to our backlog and we’ll investigate to fix it. I am quite sure this is related to this issue. Coordinates in the model are correct, but maybe the command does not take the tool base offset into account.

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