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Gabriele Nava
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Update How-to-setup-iCub-for-wbc-experiments.md
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doc/How-to-setup-iCub-for-wbc-experiments.md

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@@ -59,10 +59,9 @@ On iCub it is sometimes required to re-calibrate the “zero position” associa
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- This value will be added in the specific file associated to the joint. On the `on-board PC`, go to the folder containing the "\.xml" calibration files for your robot and open the corresponding file (example: `.../robots/$ROBOT_NAME/calibrators/left\_leg\_calib.xml`). Add the encoder value that you have previously noted to the current `calibrationDelta` of the joint (each number of the parameter `calibrationDelta` corresponds to a joint). For example, we add some values to the line:
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```
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<param name="calibrationDelta"> -5.0 8.7 -11.4 -0.6 0.0 </param>
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```
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```
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<param name="calibrationDelta"> -5.0 8.7 -11.4 -0.6 0.0 </param>
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```
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Restart the robot to apply the modifications. Check that the joints were successfully calibrated.
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#### IMU calibration
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- Be careful with the head and hands of the robot.
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- How to hide DEBUG information: in the cmake information, put the variable DEBUG from DEBUG to RELEASE.
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- How to hide DEBUG information: in the cmake information, put the variable DEBUG from DEBUG to RELEASE.

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