Fix Python scripts for potentiometer calibration (broken when switched robot IO to use actuator level only)

jhu-dvrk / sawIntuitiveResearchKit

cisst/SAW stack for the da Vinci Research Kit (dVRK)

https://github.com/jhu-dvrk/sawIntuitiveResearchKit/wiki

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Fix Python scripts for potentiometer calibration (broken when switched robot IO to use actuator level only) #165

Closed adeguet1 closed 1 year ago

adeguet1 commented 1 year ago

Fixed, needed to add coupling matrix in robot IO so one can use pots on joints (MTMs). Also required a ROS service so calibration scripts can save the new pot offsets in joint space in config files.