I have a UR10 with 3.7.2 software version and testing the ellipseswing URCap on same version af the ursim.
The Robot movement in “JointPosition” is correct during the ellipseswing, but running it on the real robot. The robot shifts the albue position. See the pictures.
Hi Jens, It looks like that it has some relations with my added item. What is your TCP setup ?
Check related: Problem with getUserDefinedRobotPosition
Similar to my mentioned situation indeed ! So, there seems to be a relation to the TCP setup I think.