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Aruco tag mounted off of the robot faceplate
(Optional)Static Aruco tag placed in the scene which is easily visible to the sensor
Calibration preset in RPC called “Calibration” with accurate TCP frame located at the center of the Aruco tag.
For calibrating, create a frame on the aruco tag face center with its X axis (Red) pointing to the right, Y (Green) pointing upwards and Z (Blue) coming out of the face. Something like this:
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