I'm currently prototyping different tool holders and adapter to evaluate performance of different geometries, but I'm finding the tool calibration part to be a bit time consuming.
So I'm wondering if it's possible to to calibrate a tool on the iiwa using hand guiding, ie, pull the robot to the calibration point instead of using the HMI.
as far as i can tell it's not possible by default, so it'll probably be something like:
handguiding->save 4 position-> external calculation of XYZABC -> input XYZABC into workbench
if anyone have any thoughts on this, please feel free to share your thoughts.