End-effector tracking

The end-effector tracker estimates a tool pose from wrist or tool-mounted fiducials and camera observations. It is a software interface for replay and instrumented testing, not a permission to mount a tool for human use.

Pipeline

1. Load the versioned fiducial inventory and camera calibration.

2. Reject frames with missing identity, stale timestamps, or invalid geometry.

3. Solve pose in a named coordinate frame.

4. Attach confidence, source frames, and calibration revisions to the result.

5. Compare against a fixture or replay before any physical integration.

The Python shadow runner reports world_from_ee in the matched camera calibration world, root_from_ee in the full URDF root, and base_from_ee in the explicitly named base_frame (default right/base_link). The run manifest binds the URDF digest. Camera and robot-world calibration identities must match. The historical robot-world key world_from_base describes the full URDF root; it must not be confused with this output’s arm-base pose.

The implementation and detailed measured baselines remain in the private engineering tree. Public contributions should add fixtures and failure cases.