The robot arrives at the wrong position

[Iaroslavrul]

Reproduction

ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur3e robot_ip:=<robot_ip> launch_rviz:=false kinematics_params_file:=/workspaces/isaac_ros-dev/my_robot_kinematics.yaml
ros2 launch isaac_ros_moveit_goal_setter isaac_ros_goal_setter.launch.py ur_type:=ur3e robot_ip:=<robot_ip>
ros2 service call /set_target_pose isaac_ros_goal_setter_interfaces/srv/SetTargetPose "{pose: {header: {stamp: {sec: 0, nanosec: 0}, frame_id: 'base'}, pose: {position: {x: -0.13, y: 0.195, z: 0.4}, orientation: {x: 0.99999999, y: 0.0, z: 0.0, w: -0.0002}}}}"

Pose before move:

After:

TCP is set to all 0

Expected behaviour:

The robot arrived in the pose x: -0.13, y: 0.195, z: 0.4, rx: 3.14, ry: 0, rz: 0

Current behaviour

The robot arrived in the pose x: -0.07, y: 0.168, z: 0.252, rx: 3.14, ry: 0, rz: 0

I have checked that for ros2 run tf2_ros tf2_echo base_link wrist_3_link I get the correct values Translation: [0.130, -0.196, 0.433]

On other robots, the behaviour is similar: the robot does not achieve the desired pose, but arrives at the wrong one

isaac_ros_moveit_goal_setter_logs.txt
ur_robot_driver_logs.txt