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Pierre Lecomte 2023-06-29 14:46:58 +02:00
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@ -32,3 +32,20 @@ To encode the microphones signals onto Spherical Harmonics signals (i.e. Ambison
See http://www.sekisushai.net/ambitools/docs/mic_encoder.html for more infos.
# SMA calibration with a robotic arm
The following instructions are made for a [Trossen-Robotics WindowX 250](https://www.trossenrobotics.com/widowx-250-robot-arm-6dof.aspx) robotic arm driven with Python-ROS API under Linux Ubuntu.
## ROS 2 installation
The robotic arm is driven with ROS (Robot Operating System) 2. To install the latter, follow the [Trossen Robotics instructions](https://www.trossenrobotics.com/docs/interbotix_xsarms/ros_interface/ros2_software_setup.html).
Currently, the Humble distribution is used.
## Robotic Arm Modification
For the task of SMA calibration, the robotic arm is modified in the following way:
1. The gripper is removed and replaced with a 3D printed part holding a threaded rod,
2. The robot description files for ROS are modified accordingly.
### Hardware modifications
The arm gripper is removed with its servo. A 3D printed part, available at [/cad/robotic_arm_attach.stl](http://sekisushai.net/git/sekisushai/small/src/branch/master/cad/robotic_arm_attach.stl), is mounted in place of the gripper servo.
By default, it allows to hold a M6 threaded rod aligned with the forearm axis. You can modify this part from the openSCAD file [/cad/robotic_arm_attach.scad](http://sekisushai.net/git/sekisushai/small/src/branch/master/cad/robotic_arm_attach.scad)
according to your needs.
### Software modifications