Discrepancy in UR5e Robot Motion Planning

[niklasconbotics]

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Hello,

I'm currently using the PyMP library for path planning with the UR5e robot. I've been basing this on the official ur5e.urdf file to compute the motion. However, I've noticed a discrepancy: despite confirming that the joint angles match those from the final state of the motion planning path, when I attach the GPS node, it shows an offset of around 2-4 cm.

Interestingly, my forward kinematics check with the urdf file indicated that the end effector is indeed at the exact position. This leads me to speculate that the urdf file and the internal .proto file, upon which the UR5e robot is built, might not align perfectly.

Could anyone suggest a way to convert the ur5e.proto file into a urdf format? This might help resolve the discrepancy I'm facing.

Thank you.

[mrudorfer]

Hi, this sounds like it might be related to an issue I had #6504