this piece of code should help:
Code:
# ———– place the box i on the convegor ——
# approach to the conveyor
robot.setPoseFrame(null_position_holder)
robot.MoveJ(target_null_safe)
robot.MoveL(eye()*roty(-pi))
You were applying the distance between the robot base and the NullPositionHolder frame twice.
Once with the setPoseFrame and once with the motion. The pose you were trying to reach was therefore twice as far.
