GEAR_CALIB_T and GEAR_CALIB_P are currently 1.0 in all cases on the Mayall. There may come a date at which robots have variable values set for these. This will affect the internally-tracked POS_T and POS_P angles (which is fine).
However, when running fit_posparams to deduce new values for SCALE_T and SCALE_P, the internally-tracked angles must be corrected for whatever GEAR_CALIB_* values were being used at the time the robot was commanded. Otherwise, the comparison of delta(commanded) vs delta(measured) will come out wrong.
Fix:
1.fitter.py --> Add additional arguments for vectors of GEAR_CALIB_T and GEAR_CALIB_P.
In dynamic mode, pre-adjust the dt_int and dp_int data back to as if GEAR_CALIB_* == 1 at time of move.
joesilber
commented
4 years ago
GEAR_CALIB_TandGEAR_CALIB_Pare currently 1.0 in all cases on the Mayall. There may come a date at which robots have variable values set for these. This will affect the internally-trackedPOS_TandPOS_Pangles (which is fine).However, when running
fit_posparamsto deduce new values forSCALE_TandSCALE_P, the internally-tracked angles must be corrected for whateverGEAR_CALIB_*values were being used at the time the robot was commanded. Otherwise, the comparison of delta(commanded) vs delta(measured) will come out wrong.Fix: 1.
fitter.py--> Add additional arguments for vectors ofGEAR_CALIB_TandGEAR_CALIB_P.dt_intanddp_intdata back to as ifGEAR_CALIB_*== 1 at time of move.