Manual Calibration

Guide to do Manual Calibration of the Sensor.

A manual calibration system allows the user to fine-tune a calibration result (such as the result from sensor to robot calibration) or move the sensor to their desired location when it is not connected to a robot.

Six Main Transformation Modes

The AMAS VR App's Manual Calibration process offers six main transformation modes, each targeting specific aspects of positioning and orientation:

1. Right Transformation: Adjust the lateral position of the Sensor along the right axis, allowing you to control its placement precisely.

2. Up Transformation: Fine-tune the vertical positioning of the Sensor using the up axis, ensuring accurate alignment with your hand movements.

3. Forward Transformation: You can control the depth positioning of the Sensor along the forward axis, enhancing the realism of your interactions.

4. Roll Transformation: Achieve rotational adjustments around the Sensor's axis, enabling you to set the desired orientation for optimal interaction.

5. Pitch Transformation: Make controlled changes in the pitch angle, affecting the Sensor's tilt to match your hand's natural movements.

6. Yaw Transformation: Modify the yaw angle, controlling the Sensor's rotation around the vertical axis to align with your hand's orientation.

Fine-Grained Precision

The scale of adjustment in each axis can be changed to these pre-set values:

• 1

• 0.1

• 0.01

Steps for Calibration

Follow the steps below to perform a Manual Calibration:

1. Before starting, make sure that the Sensor is appropriately set up.

2. Click the Configuration tab in the wrist panel.

3. Click on the dropdown button next to the Cortex button, which will open Robots and Sensors buttons.

4. Press on the Sensors button, which will open the Active Sensors panel

5. Select the Sensor you want to calibrate in the list of Active Sensors. This will open the Modify Sensor panel.

6. In Modify Sensor panel click on Calibrate button located at the bottom of the right-hand side panel

7. Select Manual Calibration

8. This should open the Manual Calibration panel where you can make the necessary adjustments.

9. Click on Save whenever you're happy with the adjustments made, otherwise click on Reset to go back to the last save.

10. Now press Save to save the calibration done so far.