Precise control of pose in sawyer

[deepakraina99]

Hi team,

I noticed that when I give a current absolute pose to the robot using the script go_to_cartesian_pose.py, the robot never reaches that position, there is always a error of 2-3 mm in its position coordinates. Infact, when I give the relative pose of [0,0,0,0,0,0] to the robot, it always move by 1-2 mm in position, which it should not be.

Also when I increment just rotations using -R [0,0,0,0.1,0,0] for 3 times i.e total change of 0.3 radian in roll angle and return back to same pose using -R [0,0,0,-0.1,0,0] for 3 times, the position coordinates change, again which it should not.

Kindly provide support on this matter.