The Issue with the Kinematics is a wrong Pose Result after using the API Interface WaypointNodeFactory. This can be reproduced on the Ellipse Example as well as the integrated Palletizing Node with the Pick/Place Waypoint Assistent.
You can try the following to reproduce the bug:
-
Setup a home pose with axis postions(deg) 0,-90,-90,-56.56,90,0 - the robot tool flange now points down to the base plane.
-
move the robot to the home position and set the tcp orientation with the asisstant with this pose relative to the base plane - the output should sth like 1.88,-1.88,0.5676:
-
set a tcp offset of about 300 mm to z
-
select the ellipse urcap and program the center point to the home pose
-
the the waypoint node should now display the wrong Pose:
