Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Update jetpack fts secondary calibration #61

Open
wants to merge 1 commit into
base: devel_iRonCub-Mk3
Choose a base branch
from

Conversation

HosameldinMohamed
Copy link

@HosameldinMohamed HosameldinMohamed commented Nov 7, 2024

Update the secondary calibration for jetpack FTs used in wholeBodyDynamics

@HosameldinMohamed HosameldinMohamed changed the title Update jetpack fts secondary calibration [iRonCub] Update jetpack fts secondary calibration Nov 7, 2024
@HosameldinMohamed HosameldinMohamed self-assigned this Nov 7, 2024
@HosameldinMohamed HosameldinMohamed changed the title [iRonCub] Update jetpack fts secondary calibration Update jetpack fts secondary calibration Nov 7, 2024
Copy link

@davidegorbani davidegorbani left a comment

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

It worked on the robot and it seems fine to me!

Copy link
Member

@gabrielenava gabrielenava left a comment

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

is fine also for me, however if I remember correctly we noted that the offset on one one the two jetpack FT (right one if I remember correctly) is still not so small (~18 N). Am I right?

Anyways, a solution could be to use this calibration, that anyways reduced the offset of jetpack FTs, as a starting point. Then we use calib all to compensate for the rest and try to use these measurements in the thrust estimator. Further analysis on how to improve the jetpack calibration could be done in parallel with the usage of the measurements with the setup that we have now.

Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Projects
None yet
Development

Successfully merging this pull request may close these issues.

None yet

3 participants