How to change F/T sensors offsets

[hu-yue]

Hi, I have a lot of saturation issues with the F/T sensors, I remember there is a way to change F/T offsets which might help this, but I don't remember how and I can't find documentation about this.
I found this http://wiki.icub.org/wiki/Firmware#Firmware_update_.28Force.2FTorque_Sensors.29, but it seems different from what I remember.
Thanks!

[barbalberto]

Is it somehow related to this robotology/icub-tech-support#89 ?

[hu-yue]

No, I mean, it's always during torqueBalancing, but somehow before Christmas break I did not have this issue anymore, now they are showing again. I already changed the saturation threshold from the configuration files in /mechanicals, as I mentioned in #64, and the current limits as mentioned in robotology/icub-tech-support#90.

I remember seeing @francesco-romano opening some gui to change offsets, where it's possible to visualize also the calibration matrix, but I don't remember how anymore.

[francesco-romano]

Hi @hu-yue.
Now that the firmware has the diagnostic set to on, it is easier to regulate the offsets.

• Make sure robotInterface is off
• launch the ethLoader and look for the boards (click Discover only once)
• close ethLoader
• launch canLoader --calib
• now you have to select the board. It should be on CAN2, and you should write the IP address of the board.
• It will open with a calibration matrix (don't touch it) and the 6 channels with relative sliders. You have to touch these sliders. Once you finish, press the Save to eprom button, close the window and reboot the boards.

[hu-yue]

@francesco-romano thanks! =) I remember it was somewhere with canLoader but could not find the right place! Next time I'll take notes!