Franka Research 3 Low precision

[samdjExceenis23]

Hello,

I'm working with a Franka Research 3, using Moveit Movegroup, and I've noticed that the robot's precision is really low, so for example, if I request a position and orientation, sometimes it offsets that goal position by ~ 1cm, which is high considering our application.

I tried to log the end effector's current pose through movegroup, but the issue is that I'm getting only a small difference between iterations, a difference that don't reflect the current real pose. I also tried different type of movements (joint, Cartesian, a combination of both).

Using different IK solver, and going from KDL to TracIK and BioIK improved things, but there still is that offset of around 1cm.

Platform: Ubuntu 20.04
Franka ROS: noetic-devel
libfranka: 0.10.0