From 8d1550653e8914332bd5d4fa67a90807067197d0 Mon Sep 17 00:00:00 2001 From: Binit Shah Date: Mon, 23 Aug 2021 19:43:54 -0400 Subject: [PATCH] Fix check calibration instructions Include homing and uncalibrated URDF generation steps. --- stretch_calibration/README.md | 13 +++++++++++-- 1 file changed, 11 insertions(+), 2 deletions(-) diff --git a/stretch_calibration/README.md b/stretch_calibration/README.md index f9513bd..6008834 100644 --- a/stretch_calibration/README.md +++ b/stretch_calibration/README.md @@ -10,11 +10,20 @@ In addition, after changing a tool, this code can be used to generate a new cali ## Checking the Current Calibration with New Observations + +1. Make sure the basic joint limit calibration has been performed. + + `stretch_robot_home.py` + +1. Make sure the uncalibrated URDF is up to date. + + `rosrun stretch_calibration update_uncalibrated_urdf.sh` + 1. Collect new observations `roslaunch stretch_calibration collect_check_head_calibration_data.launch` - -2. Test how well the current calibrated model fits the new observations + +1. Test how well the current calibrated model fits the new observations `rosrun stretch_calibration check_head_calibration.sh`