while generating trajectories with material deposition app, i obtein an offset between my position in the world or base frame and the position in post processed code. Any idea where this offset come fron and how to fix it. i use a staubli rx160l robot.

here on the left you have the position of the robot in the simulation and on the right you have the position for the same point though the generated code

also if someone knows how to make the limk beteens the frames we create in the cell and the code generation, i would apreciate some explanations.