Tracker↔TCP calibration question

Hi RDT2 team,

Quick question about the tracker↔TCP calibration.

If the tracker↔TCP extrinsic is fixed once the mount is designed/printed and installed, isn’t this transform already known at design time (e.g., from CAD)? What practical factors make you prefer running the sinusoidal-motion calibration/optimization instead of just using the nominal CAD transform?

Thanks!