Reworked how the robot sphere is placed after scanning the vertical QR marker on the robot base. Instead of trusting the marker’s full tracked orientation, which was noisy and caused the sphere to land in different spots on each launch. we now build a stable, gravity-aligned base frame (up = world up, forward = the marker’s horizontal facing). Robot coordinates from ABB are mapped once into that frame (forward, left/right, up/down each go to the right axis), and we removed the old stack of axis flips and the fixed 90° rotation guess that was swapping left/right and up/down. Calibration defaults were reset (offset and rotation start at zero, flips off), and saved settings from older builds are cleared on upgrade so clients don’t reopen with “X flip / Y flip” and stale offsets.

iPhone, iPad, Apple Watch App

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