Universal Robots Forum

Fixed angle representation changes constantly

We observed an annoyance with our UR5.
When we tried to check the orientation of the tool in fixed angle representation (RPY in degrees),
the angles change everytime we go back to the screen that shows this representation.

All this without changing the robots configuration.
You can see this very nicely in the attached video.
Now, all these orientations are equivalent but it is still annoying when debugging (and frankly should not happen when the robot stays still). I could not reproduce in simulator with the same joint config and we never observed it with our UR3. My guess why this happens is because the robot is in a funny config and the noise of the encoders causing it to jump between different domains.

video