[Karl]

re-run the calibration without using theSet measurement referenceoption

I reran the calibration with your suggestions, but with the same result. 3DOF, no measurement reference, and I mastered the robot with a dial indicator before resetting and recreating the calibration program.

For kicks, I tried rearranging all the frames to be WRT the base frame. Same thing! Here's the rdk file.

Two strange things with this as well:

1) this "Follow Target" check mark option just makes the tracker abandon the measurement and point to a position a few degrees right of wherever it's looking. It has to be checked to make the tracker actually measure anything. Must not be for my situation but it suddenly started being unchecked every time I made a new calibration operation. (see attached followtracker.png)

2) Another strange "all of a sudden" thing is when I finished the last calibration, it flipped my tool around. Did it update my tool based on the calibration measurements? Maybe I should just take the tool off and do this right on the flange? (see attached flip.png)