robot joint offsets required to overcome internal absolute encoder

We need a way to add back into the system the "theta" values for following so the robot poses correctly in sim and kinematics work correctly.

Maybe try the "HOME" or "HOME_OFFSET" values in the [JOINT_n] sections or the "HOME" values in the [TRAJ] of the ini file to compensate for those theta rotations.
The simulation model needs to reflect any joint rotations that were made to accommodate the lack of theta values in genserkins dh-parameters.
 

You might need to rotate the parts before linking them to the HAL pins in the Vismach model.

ftree wrote:

Not sure HOME_OFFSET works with absolute encoders.

It is certainly part of the calculation, though I would have to experiment to see what the result is as the description in the docs is a little unclear:
linuxcnc.org/docs/stable/html/config/ini...t__lt_num_gt_section
 

The simulation configuration at configs/sim/axis/vismach/melfa-sim uses :and

but I just checked the [TRAJ] HOME setting and using this might actually be preferable as that sets the zero pose (all joints at zero position) to be the same as is usually used in serial manipulator documentation:

And again your vismach model's inital joint (zero) positions need to be the same as what you had to rotate the joints to in order to derive the dh-parameters. ie if you had to rotate joint1 by 90° as in the dh-parameter documentation (due to the lack of theta parameter in genserkins) then your model's inital position needs to have its arm pointing to the floor and not straight out.

Installing your config is not as simple as my machine runs a rip installation so all my paths are different to begin with. Maybe try to describe what you expect and is not working for you.