Cartesian Offset with Task Space Command

[babindemers]

I observed an offset while sending task space command in simulation to the OpenManipulator-P. I use the /open_manipulator/goal_task_space_path service in order to send a cartesian pose to the robot. The robot does find a path to the point, and executes it. Once the robot is stable, I echoed /gripper/kinematics_pose in order to see its position. This position is the same as the one I send.

However, when looking on RViz, I see that it doesn't correspond to the real cartesian point in simulation. My dock frame is located at (0.396, 0.31, 0.165), and the robot is clearly not even close to that point. I looked a bit in the kinematics code, but I fear that it's an error with the robot's physical parameters, which I don't want to change.

Here is a screenshot of the problem I observed. The terminal shows the robot's kinematics pose, while RViz displays the actual position.

Setup: ROS Melodic with Ubuntu 18.04