I have been testing for over 2 weeks. What has become apparent is the tool calibration does not work. I have been trying to troubleshoot this problem to no avail. The transformation matrix that is generated from the code varies. The endpoint position calculated can vary by 5 - 10 mm. I have halted further testing until this can be resolved.
I have checked matrix multiplication, both order and differences between column major and row major. I have upgraded the API and reinstalled the drivers that the haptic device uses. I tried hard coding the translation determined from measuring. This did not work either. I am leaning towards the hardware being defective or that the haptic device is not capable of giving the required accuracy.
Sample Test pictures and screenshots available
here as long as my student account stays open.
