Repeat Step 6, but instead use Arm 2 with SPHERE 2. After both arms have calibrated the wrist angles, the following files are created or modified with the latest calibration data:
*. PRB
*. Results
abcalib.dat and abcalib_CMM2.dat
abcomps.dat and abcomps_CMM2.dat
aboutput.dat and aboutput_CMM2.dat
wrists.dat and wrists_CMM2.dat
toolc.dat and toolc_CMM2.dat
armarm.dat
tool.dat
The next step provides information on mapping the origin between arms.