I made a pick and place example with UR5e + 2f-140 gripper.
However, it has offset problem when it pick a cube. I think having the only z-offset is enough at
end_effector_offsetbut, it has some proportional value on planar xy with the position of the cube.
How can I fix this problem?
I attach my code below.
ur5e_pick_place.7z (2.7 MB)