Hi everyone,
Does anyone know the best tactics/procedures to calibrate the TriFinger robot? Thanks!
Hello,
sorry for the late response! I’m trying to catch up with questions, in case it’s still relevant.
I assume you are using a TriFingerEdu?
With “calibration”, do you mean the “homing” of the joint positions? The end-stops of TriFingerEdu are unfortunately not ideal for homing, so I would suggest to use the “next_index” method. This means that you manually have to move the joints to some rough start position (e.g. all joints pointing down) every time before you run your code, though.
See also the “How to Determine the Home Offset?” section further down in the documentation. You can use the position_control_on_off script to print the joint positions (press “p” to disable the position controller, then you can move the joints freely to your desired zero position).
Best,
Felix