Calibrator not working with arm

[lrapetti]

I was trying to run the calibrator on arm but I am getting an error while parsing the data dumper in the readStateExt function.

What happens is that the number of joints of the arm (n) that is passed to this function is 7 accordingly to the model without the fingers. This involves a format of the parser like:

%d %f (%f %f %f %f %f %f %f) [ok]

However, looking at the data dumper, the stored data consider the full arm (16 Dof) so they have the following form:

11488 1538563557.699300 (-0.181274856628068 44.4452989387181 0.0878908395772451 50.0977785590297 0.0 0.0 -0.0439454197886225 15.3863901034915 29.8334468590011 0.0 19.1711893827866 0.70312671661796 9.38784030234449 0.70312671661796 6.72914240513282 0.0) [ok]

@nunoguedelha did you ever experience this problem? It could be easily fixed by adding the full arm model in the framework model. Is the model depending on the URDF or is it defined somewhere else?

[traversaro]

I suspect the number "7" is connected to

sensors-calib-inertial/src/@JointsDbase/getJointNames.m

Line 37 in dacb506

armJoints = @(side) {...

.

[lrapetti]

I suspect the number "7" is connected to

sensors-calib-inertial/src/@JointsDbase/getJointNames.m

Line 37 in dacb506
armJoints = @(side) {...
.

@traversaro I tried to add the missing joint there:

armJoints = @(side) {...
    [side '_shoulder_pitch'],[side '_shoulder_roll'],[side '_shoulder_yaw'],...
    [side '_elbow'],[side '_wrist_prosup'],[side '_wrist_pitch'],[side '_wrist_yaw'],...
    [side '_hand_finger'],[side '_thumb_oppose'],[side '_thumb_proximal'],...
    [side '_thumb_distal'],[side '_index_proximal'],[side '_index_distal'],...
    [side '_middle_proximal'],[side '_middle_distal'],[side '_pinky']};

but I am always getting "7" as DOF number of the arm. I was suspecting too that the DOF number was given by the file you pointed since it was the only one referring to the seven joints (shoulder_pitch, shoulder_roll, shoulder_yaw, elbow, wrist_prosup, wrist_pitch, wrist_yaw). In all the other files (apart from URDF), the only joints that are listed, are the four joints of the arm that are calibrated during the procedure (shoulder_pitch, shoulder_roll, shoulder_yaw, elbow).