i have little problem with calibration gripper - robot.
I have computed data (from calibration between grasped object and 3D sensor). From this data I calculated transform from gripper origin to A6 origin (kuka end effector).
Now i need to apply this transformation to manipulator in OpenRave. But manip.SetToolLocalTransform does not work. Is there another way ? In xml ? But I don't know how to write it properly (where and in what order)