Read the coordinate frames

1. Identify the reference base#

The six-joint chain preserves the I2RT YAM standard v1 reference transforms. This is a kinematic input; upstream masses, dynamics, and commercial performance are not Bolte specifications.

2. Apply the mounting transform#

The mounting plane is 24 mm below the reference base:

T_mount_to_flange = Trans(0, 0, 24 mm) × T_reference_base_to_flange

3. Identify the flange and TCP#

The upstream terminal frame is named gripper; it denotes the six-joint flange. Bolte's gripper attaches after that frame. Its current flange-to-TCP vector is (0, 0, 116.7) mm.

4. Compare the same pose#

The CAD reference pose is (0, 0.7, 1.6, −0.5, 0, 0) rad. Compare transforms at identical joint values and in the same base frame.

Download the integration geometry and kinematic contract. For discrepancies, use Coordinate-frame mismatch.