Joints eccentricity in kinematic model

For a URCap application we would like to calculate offline trajectory, so we use the calibrated HD parameters to build a kinematic model, but we are still missing precision compare to urscript get_inverse_kin function.
Each joint has calibration file with eccentricity tau and sigma parameters and we would like to know how these parameters are include in the kinematic model.

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@jbm Hi Jacob, so can your team shares the exact kinematic model ? Be able to calculate offline the exact kinematics of UR robot would be of great interest for our URCap developments.

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Yes, it answers my question, thanks.