That ac file is probably enough, but, how much did that change the original position of the model when secured in the bay? Because it was exactly where I wanted the model when secured
Cool. Not too much actually, I could not tell the difference, a feet or so?
Maybe not though
As far as I have understood, the relative position of the end effector w.r.t the hook (before and after grabbing) depends only on the choice of the origin in the hst.ac file. With the adjustments I've made, I would say that it is perfect once grabbed, and a bit off before grab (it is barely visible because the end effector cannot go further than 83 degrees, and that dominates). For the position of the HST in the payload bay, once the origin is set, you can only play with the offsets in the hst-secured.xml file, which must match the coordinates of the hook in payload.nas, the p3_attach_xyz. And whatever you set here, the position of effector vs hook cannot change. I guess if the new origin moved a bit the model in the bay, it remains these 3 numbers to be adjusted, but I don't know what were you criteria for its positioning.