[Bug]: Commanding robot state makes robot move downwards

[haastregt]

What happened?

Expected behaviour
Commanding the robot state makes the robot stay in place.

Actual behaviour
When commanding the robot with its state, the robot moves (downward + ee rotation) with significant speed (~5-10cm/sec)

Robot Model

vx300s

Operating System

Ubuntu 22.04

ROS Distro

ROS 2 Humble

Steps To Reproduce

Given the following script:

#example.py

from interbotix_common_modules.common_robot.robot import robot_startup
from interbotix_xs_modules.xs_robot.arm import InterbotixManipulatorXS
import time
import modern_robotics as mr


def main():
    bot = InterbotixManipulatorXS(
        robot_model='vx300s',
        group_name='arm',
        gripper_name='gripper',
    )

    robot_startup()

    bot.arm.go_to_home_pose(moving_time=2)
    bot.arm.set_ee_pose_components(x=0.3, z = 0.4, moving_time=2)

    while True:
        robot_state = mr.se3ToVec(bot.arm.get_ee_pose())
        bot.arm.set_ee_pose_components(
            x = robot_state[3],
            y = robot_state[4],
            z = robot_state[5],
            roll = robot_state[0],
            pitch = robot_state[1],
            yaw = robot_state[2],
            moving_time=0.2,
            blocking=False
        )
        time.sleep(0.2)


if __name__ == '__main__':
    main()

Run in two terminals:

ros2 launch interbotix_xsarm_control xsarm_control.launch.py robot_model:=vx300s

python example.py

Relevant log output

Additional Info

We want to try make the robot move relative to the end-effector (so that we can use integrated velocities from teleoperation devices), however if we use set_ee_pose_components() with the robot state, there is significant drift.

Is there something going wrong here/misuse of the sdk? Or is this perhaps just a limitation of the controller accuracy?