Position not the same with simulation and real robot.

[nicolasCheron]

Hello,
I am curently working with the UR10 robot. I downloaded the UR10 urdf from https://github.com/ros-industrial/robot_movement_interface/tree/master/dependencies. The loading and control of the robot look fine, but when I compare the position and orientation of the robot in simulation with the real robot for the articular position (0,0,0,0,0,0), I got (1.1843,0.163941,0.0116) instead of (-1.1843,-0.256,0.0116). The difference is not just due to a rotation. I set the robot this way:
position = [0,0,0.8]
orientation = [0,0,0,1]
#filename is the urdf path
robot = p.loadURDF(fileName,position,orientation,useFixedBase=1)
As the orientation quaternion is (0,0,0,1), there is no difference between the world frame and the base frame, except for the translation on the Z axis.
Then I use p.resetJointState to put all articular joints to zero, and I make sure with the p.getJointState that all joints are well at the position 0 radians. I got the world position using p.getLinkState with the link 6.
Do you know why I got this difference and how to solve it ?