Geomagic touch/phantom omni haptic stylus tip pose
I am using Chai3D 3.1.1 with the phantom omni/geomagic touch and was running the Chai3D 01-mydevice example to check the pose of the device. For some reason, the pose that is reported is not the pose of the haptic stylus tip, but instead of the joint where the haptic stylus connects to the arm. I tested this by keeping the tip in a static position and moving the stylus around, and the pose keeps changing instead of staying static. Similarly, when I keep the joint static and move the stylus tip around, the pose does not change.
Anyone else noticed this issue and is there someone that has implemented the correct transform between the tip and the joint?
Thanks for the help!
Just a comment to the issue. Does anyone know what's the orientation of the end-effector coordinate (I am not even sure if it's exactly at the joint connected to the stylus)? When I keep the pen parallel to the table plane and keep the pen orientation when moving it up/down, I found that the orientation of the pen is changed (it shouldn't if the end-effector coordinate aligned with the pen).