Ok, I think I’ve cracked it! From the Mechanical Spec, I compute that the neutral position (all joints set to zero) of the tool connector is:
x = 41.5 + 180 + 23.7 = 245.2 and
z = 103 + 80 + 210 + 30 – 5.5 = 417.5
When I command Niryo RVis simulation to set the neutral position and call niryo.get_arm_pose() I get this:
which is off by about 7mm in x.
Checking in Rvis:
TF->hand_link-> Relative position, I see the x offset is set to 16.4mm in stead of 23.7mm. That account for the descrepency.
- This reply was modified 1 year, 6 months ago by wyojustin.