Fix off-center issue #49
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amalnanavati
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Co-authored-by: Ethan K. Gordon <[email protected]>
amalnanavati
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Oct 31, 2024
* [WIP] Adding auto camera calib procedure * [WIP] Adding camera calibration script * [WIP] added cartesian motion, need to add charucoboard code * [WIP] almost done, need to test in-person * Mostly working but for error computation * Fixed bug in calculating transformation error * Change default calib to autocalib * [WIP] moved to separate package, yet to test * Finalized TODOs * Changes from final testing * Reject calibrations that are too far from the manual reference * Make teh hardcoded path consistent with lovelace * Fix off-center issue (#49) Co-authored-by: Ethan K. Gordon <[email protected]> * Update forque centering given updated URDF * Small updates to camera calibration scripts --------- Co-authored-by: Amal Nanavati <[email protected]> Co-authored-by: Ethan K. Gordon <[email protected]>
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Description
At this stage, the forque enclosure is relatively heavy, and has some degrees of freedom (e.g., looseness) in the gripper and arm mount. As a result, the robot's URDF no longer matched the real robot's geometry. This PR addresses that.
Note that until we mostly constrain all degrees of freedom (WIP), we will likely have to keep doing this. Thus, I wrote instructions in the wiki on how to do this tuning.
This PR is linked with
ada_feeding#202, which has some commented out code that can help with addressing off-center issues moving forward.Testing