Hello,

I try to generate a robot move in simulation and in real world. I use Moveit and Franka Panda robot arm.

In demo, the robot move seems to be ok, but in the real robot the robot is doing strange trajectory: https://streamable.com/nnqnvi

In both environment ( simulation an real world), I use the same goto function

def set_robot_position(self, pose_info):
    pose_goal = geometry_msgs.msg.Pose()
    pose_goal.position.x = pose_info["position"][0]
    pose_goal.position.y = pose_info["position"][1]
    pose_goal.position.z = pose_info["position"][2]

    pose_goal.orientation.x = pose_info["orientation"][0]
    pose_goal.orientation.y = pose_info["orientation"][1]
    pose_goal.orientation.z = pose_info["orientation"][2]
    pose_goal.orientation.w = pose_info["orientation"][3]

    self.move_group.set_start_state_to_current_state()
    self.move_group.set_pose_target(pose_goal)

    self.move_group.set_max_velocity_scaling_factor(0.2)
    if pose_info.__contains__('speed'):
        self.move_group.set_max_velocity_scaling_factor(pose_info['speed'])

    self.move_group.go(wait=True)
    self.move_group.stop()
    self.move_group.clear_pose_targets()

I think it comes from my Moveit config :

<?xml version="1.0"?>
<launch>
  <arg name="robot_ip" />
  <arg name="load_gripper" />

  <!-- Launch real-robot control -->
  <include file="$(find franka_control)/launch/franka_control.launch" >
        <arg name="robot_ip" value="$(arg robot_ip)" />
        <arg name="load_gripper" value="$(arg load_gripper)"  />

  </include>

  <!-- By default use joint position controllers -->
  <arg name="transmission" default="position" />
  <!-- Start ROS controllers -->
  <include file="$(dirname)/ros_controllers.launch" pass_all_args="true" />

  <!-- as well as MoveIt demo -->
  <include file="$(dirname)/demo.launch" pass_all_args="true">
    <!-- robot description is loaded by franka_control.launch -->
    <arg name="load_robot_description" value="true" />
    <!-- MoveItSimpleControllerManager provides ros_control's JointTrajectory controllers
         as well as GripperCommand actions -->
    <arg name="moveit_controller_manager" value="simple" />
  </include>
</launch>

Can someone help me and give me advice on how to solve the trouble ?