diff --git a/website/docs/faq/index.md b/website/docs/faq/index.md index 1c713e83..7d8ee0e8 100644 --- a/website/docs/faq/index.md +++ b/website/docs/faq/index.md @@ -102,6 +102,13 @@ Check the following in order. - If the cameras still disconnect, connect the head stereo camera directly to the PC instead of the USB hub. Some PCs share an internal hub among several ports, so run `lsusb -t` to make sure that it is not under the same hub as the wrist cameras. +## Should I use the zero-position calibration jig with OpenArm Cell? + +We recommend the [zero-position calibration with the mechanical limits](../setup/openarm-setup/4-motor-config.mdx#step-2-zero-position-calibration) instead of the jig. +The jig aligns the arm to OpenArm Cell, so assembly errors of the Cell shift the zero position. +The calibration with the mechanical limits uses the mechanical limit of each joint, so the assembly errors of the Cell don't affect it. +You can run it with the arm mounted in OpenArm Cell. + ## OpenArm Cell shuts off during zero-position calibration. The wiring around the elbow or other joints may enter the detection area of the area sensors and trigger the [Reach-In Stop](../hardware/openarm-cell/general.mdx#reach-in-stop). diff --git a/website/docs/hardware/openarm-cell/calibration-workflow.mdx b/website/docs/hardware/openarm-cell/calibration-workflow.mdx deleted file mode 100644 index 3000016c..00000000 --- a/website/docs/hardware/openarm-cell/calibration-workflow.mdx +++ /dev/null @@ -1,45 +0,0 @@ ---- -title: Calibration Workflow -sidebar_position: 2 ---- - -```mdx-code-block -import BlockImage from '@site/src/components/BlockImage'; -``` - -# Calibration Workflow - -## Step 1: Insert the Nut - -Insert the post-insertion spring nuts (HNTP6-6) at the locations shown in the figure below. -After the jig is installed, the nuts will be moved to align with the mounting holes, so precise positioning is not required at this stage. - - - -## Step 2: Insert the Jig - -Slowly insert the jig so that it fits around the central column to which OpenArm is mounted. -After inserting it fully, adjust its position so that the bottom surface of the jig is flush with the stage of OpenArm Cell. - - - -## Step 3: Secure the Jig - -Using a thin wrench or similar tool, adjust the position of the post-insertion spring nuts (HNTP6-6) inserted in Step 1. -Once the nuts are aligned with the holes in the jig, secure the jig to OpenArm Cell using M6 screws. - - - -## Step 4: Seat the End-Effector into the Pocket - -Fit OpenArm into the recesses located on the bottom of the jig. -Place the base of the end effector into the oval-shaped recess, and place the bottom of the J7 motor into the circular recess. - - - -## Step 5: Confirm Attachment to the Jig - -Please confirm that all joints are secured and cannot move. -Verify that OpenArm is fixed in the posture shown in the figure below, and then perform the calibration. - - diff --git a/website/docs/hardware/openarm-cell/general.mdx b/website/docs/hardware/openarm-cell/general.mdx index bdab3709..54c748e7 100644 --- a/website/docs/hardware/openarm-cell/general.mdx +++ b/website/docs/hardware/openarm-cell/general.mdx @@ -66,10 +66,3 @@ OpenArm Cell is equipped with an intrusion detection system based on area sensor It detects unexpected entry into the workspace during operation and automatically shuts off power, helping to ensure the safe and reliable management of the experimental environment. - -### Zero-Position Calibration Jig - -OpenArm Cell also includes a high-precision dedicated calibration jig that secures the gripper in a fixed position and physically constrains all degrees of freedom to their ideal CAD-defined angles. -By eliminating unavoidable assembly errors and component tolerances through calibration, it ensures a consistent data foundation that is essential for operation in diverse environments around the world. - - diff --git a/website/docs/overview/whats-new-in-2.0.mdx b/website/docs/overview/whats-new-in-2.0.mdx index 9e41dd10..74fa87e9 100644 --- a/website/docs/overview/whats-new-in-2.0.mdx +++ b/website/docs/overview/whats-new-in-2.0.mdx @@ -37,7 +37,6 @@ Highlights: - Off-the-shelf MISUMI-based enclosure and power system for maintainability and global availability of parts. - Vertically adjustable Z-axis to accommodate different workpiece heights. - Area-sensor reach-in stop that cuts power on intrusion into the workspace. -- Dedicated zero-position calibration jig that mechanically constrains the gripper to its CAD-defined angles, eliminating assembly tolerances from the dataset. The motivation is simple: "Model A outperforms Model B" only carries meaning when both were evaluated under the same conditions. The Cell is the shared substrate that makes that possible. diff --git a/website/docs/tutorial/setup.mdx b/website/docs/tutorial/setup.mdx index d6071071..2a5b5c07 100644 --- a/website/docs/tutorial/setup.mdx +++ b/website/docs/tutorial/setup.mdx @@ -116,26 +116,31 @@ If you just buy the OpenArm 2.0 only and already zero position calibrated, you c ## Zero position setup -Set up the arm with the jig as shown below. +Set the zero position with the mechanical limits of each joint. This ensures the arm is in the correct position for data collection and evaluation. - - -(See also: [Calibration Workflow](../hardware/openarm-cell/calibration-workflow.mdx)) - Before setting the zero position, make sure the CAN interface is up and running: ```bash ip link show ``` -`can0` and `can1` should appear in the UP state. Then run the following commands to set the zero position for the CAN motors: +`can0` and `can1` should appear in the UP state. + +:::warning +The arm moves automatically during the calibration. Clear the workspace and be ready to emergency stop. +::: + +Then run the following commands to set the zero position for each arm: ```bash -openarm-can-cli -i can0 set_zero --arm -openarm-can-cli -i can1 set_zero --arm +openarm-can-zero-position-calibration --canport can0 --arm-side right_arm +openarm-can-zero-position-calibration --canport can1 --arm-side left_arm ``` +See [Zero Position Calibration](../setup/openarm-setup/4-motor-config.mdx#step-2-zero-position-calibration) for details. +If OpenArm Cell shuts off during the calibration, see [the FAQ](../faq/index.md#openarm-cell-shuts-off-during-zero-position-calibration). + ## Camera setup Arducam's default serial number is the same for all cameras, so we need to set the serial number for each camera using arducam config tool. diff --git a/website/docusaurus.config.ts b/website/docusaurus.config.ts index 9ae38f1c..0e5d094e 100644 --- a/website/docusaurus.config.ts +++ b/website/docusaurus.config.ts @@ -135,7 +135,9 @@ const config: Config = { { from: '/api-reference/setup/motor-config', to: '/setup/openarm-setup/motor-config' }, { from: '/api-reference/setup/run-demo', to: '/setup/openarm-setup/run-demo' }, { from: '/api-reference/setup/motor-firmware-update', to: '/setup/openarm-setup/motor-firmware-update' }, - { from: '/tutorial/data-collection', to: '/tutorial/data-collection-vr' } + { from: '/tutorial/data-collection', to: '/tutorial/data-collection-vr' }, + // The OpenArm Cell jig is replaced by the calibration with the mechanical limits + { from: '/hardware/openarm-cell/calibration-workflow', to: '/setup/openarm-setup/motor-config' } ], createRedirects(existingPath: string) { const removedInV2 = [ diff --git a/website/static/img/hardware/openarm-cell/calibration-workflow/step1.png b/website/static/img/hardware/openarm-cell/calibration-workflow/step1.png deleted file mode 100644 index 413bbcdb..00000000 Binary files a/website/static/img/hardware/openarm-cell/calibration-workflow/step1.png and /dev/null differ diff --git a/website/static/img/hardware/openarm-cell/calibration-workflow/step2.png b/website/static/img/hardware/openarm-cell/calibration-workflow/step2.png deleted file mode 100644 index 27e86b2c..00000000 Binary files a/website/static/img/hardware/openarm-cell/calibration-workflow/step2.png and /dev/null differ diff --git a/website/static/img/hardware/openarm-cell/calibration-workflow/step3.png b/website/static/img/hardware/openarm-cell/calibration-workflow/step3.png deleted file mode 100644 index 95f79bcf..00000000 Binary files a/website/static/img/hardware/openarm-cell/calibration-workflow/step3.png and /dev/null differ diff --git a/website/static/img/hardware/openarm-cell/calibration-workflow/step4.png b/website/static/img/hardware/openarm-cell/calibration-workflow/step4.png deleted file mode 100644 index 7cf8559f..00000000 Binary files a/website/static/img/hardware/openarm-cell/calibration-workflow/step4.png and /dev/null differ diff --git a/website/static/img/hardware/openarm-cell/calibration-workflow/step5.png b/website/static/img/hardware/openarm-cell/calibration-workflow/step5.png deleted file mode 100644 index f981803f..00000000 Binary files a/website/static/img/hardware/openarm-cell/calibration-workflow/step5.png and /dev/null differ diff --git a/website/static/img/hardware/openarm-cell/general/zero-position.gif b/website/static/img/hardware/openarm-cell/general/zero-position.gif deleted file mode 100644 index e0662385..00000000 Binary files a/website/static/img/hardware/openarm-cell/general/zero-position.gif and /dev/null differ