teach offset with load

[wes_mcgee]

Just wondering exactly what this does. I mean, I know what it does, it teaches the joint sag with the load mounted. I suppose this then corrects the commanded joint angles to reach a given position.

My real question is this. We use several tool data registers with the same payload. Can I copy this offset data somehow, or do I actually have to redo the teach offset for each tool?

[SkyeFire]

I believe you can do this in the <serial number>.cal file in the IR-SPEC directory.  Be very careful messing with this, though.

[the leg]

To do it correctly you will need to each tool on each robot as each robot is ever so slightly different but the choice is yours