robot joint offsets required to overcome internal absolute encoder

this error out and shuts down

net :j1 <= a2-pos-fb-comp => pyvcp.joint1 => meca500gui.joint2

hi andy, i'm trying to set this up in sim mode. maybe going about it all wrong way.

kinematics fail using offset, back to the drawing board

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.

theta j1= neg 90
theta j5 = pos 180

I am open to guidance on how to achieve this in both sim and real.  Thanks!

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.