[Albert]

If your goal is to calibrate the robot I recommend you to start with only 1 SMR and the tracker base setup. So I don't recommend you to use the optionSet measurement Referencefeature. Thsi is only useful if you are planning to move the tracker during the robot calibration process.

You can selectResetto clear this reference and simply select theMeasurements referenceand theTracker referenceas shown in the project attached.

Summarizing, to have a good first calibration and get familiar with the software I recommend you to do the following:

1. Remove the measurement (it will use the laser tracker reference). This shold be fine unless you move the tracker but I don't recommend you to do so anyways to maximize accuracy.
   
2. Add a small box object at the tool to prevent collisions with your SMR as shown in the project attached.
   
3. SelectTools-Calibrate robotto start the calibration. I used XYZ measurements and it should be enough even if you use the T-Mac. But I see you are using SMRs anyways.
   
4. I recommend you to use only one SMR to start with. This will avoid confusion.
   
5. The script that gets added when you start a robot calibration allows you to define some settings for the workspace. You can run the Create measurements script again and change these settings if you need.
   
6. The tool you use for calibration should be called CalibTool 1. If you have more tools (TCP) they should be called CalibTool 2, CalibTool 3 and so on.
   
7. I recommend you to start with the Base setup and the Tool setup measurements. The whole calibration procedure is automated if you were able to connect to the tracker and the robot using the drivers.
   
8. Once you complete the Base setup and the Tool setup you'll see that the tracker is placed at the accurate location and the TCP is properly calculated. You can then run the Create Measurements script again to recalculate everything. The Z axis of the TCP will point to the tracker so it represents the direction of the mirror.
   

如果你需要更多的帮助,请让我知道。我附project with these edits to have the calibration with 1 SMR.