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 # match_ur_control_backup
+
 Backup of the .urcontrol folder for all match URs
+
+## How to Restore Calibration to a New Polyscope Installation
+
+To restore the calibration data from these backups to a new Polyscope installation on an SD card:
+
+### Prerequisites
+- A computer with an SD card reader
+- The SD card from your UR robot controller
+- Basic familiarity with command line or file management
+
+### Step-by-Step Instructions
+
+1. **Identify the correct backup**: Check the table below to find the backup that matches your robot's serial number or characteristics.
+
+2. **Extract the backup**: 
+   ```bash
+   unzip backup_XXX.zip
+   ```
+   Replace `XXX` with the appropriate backup number (e.g., `backup_112.zip`).
+
+3. **Prepare the SD card**:
+   - Insert the SD card from your UR robot controller into your computer
+   - The SD card should have a partition that contains the Polyscope installation
+
+4. **Locate the .urcontrol directory**:
+   - On the SD card, navigate to the root directory
+   - You should see a directory named `.urcontrol` (it may be hidden)
+
+5. **Backup your current calibration** (recommended):
+   ```bash
+   cp -r /path/to/sd_card/.urcontrol /path/to/sd_card/.urcontrol_backup_$(date +%Y%m%d)
+   ```
+
+6. **Copy the calibration files**:
+   ```bash
+   cp -r .urcontrol_XXX/* /path/to/sd_card/.urcontrol/
+   ```
+   Replace `XXX` with the appropriate backup number.
+
+7. **Verify the files were copied correctly**:
+   - Check that `calibration.conf` exists in the `.urcontrol` directory
+   - Verify other calibration files are present (calibration_trajectory_*.ct files)
+
+8. **Safely eject the SD card** and reinsert it into your UR robot controller.
+
+9. **Power cycle the robot** for the changes to take effect.
+
+### Important Notes
+- **Always backup your current calibration** before overwriting it
+- **Use the correct backup** for your specific robot - mixing calibrations between robots can cause issues
+- **Power cycle required** - the robot needs a full restart to load the new calibration data
+- **Test carefully** - after restoring, test the robot's movement in a safe area
+
+## Calibration Data Comparison Table
+
+Below is a comparison of the calibration parameters from each robot backup:
+
+| Robot ID | Calibration Status | Joint Checksums | Key Delta Parameters |
+|----------|-------------------|-----------------|---------------------|
+
+### Robot 112
+- **Status**: Linearised (2)
+- **Joint Checksums**: `[0xb630883c, 0xb61f6e2e, 0xb5484b61, 0xb612c3a2, 0xb62bd7bc, 0xb61c0e94]`
+- **Delta Theta**: `[5.64e-07, -1.217, 1.212, 0.00484, -2.81e-07, -8.62e-08]`
+- **Delta A**: `[0.000127, 0.4006, 0.000150, 5.37e-05, -9.61e-05, 0]`
+- **Delta D**: `[-6.88e-06, 1935.67, -1935.34, -0.3315, -0.000104, -0.000962]`
+
+### Robot 117
+- **Status**: Linearised (2)
+- **Joint Checksums**: `[0xb459a61e, 0xb45528a6, 0xb53963ab, 0xb41a0255, 0xb417126d, 0xb40d200b]`
+- **Delta Theta**: `[-4.30e-07, 0.1814, -0.2489, 0.06749, 9.59e-07, -8.13e-08]`
+- **Delta A**: `[0.000111, 0.01038, 0.001519, 5.71e-06, -4.56e-05, 0]`
+- **Delta D**: `[6.17e-05, 556.95, -562.19, 5.2409, -0.000201, -0.001058]`
+
+### Robot 118
+- **Status**: Linearised (2)
+- **Joint Checksums**: `[0xb420f4ad, 0xb4409feb, 0xb553930a, 0xb411c00e, 0xb418cc4f, 0xb417175a]`
+- **Delta Theta**: `[-2.12e-08, 0.08526, -0.1634, 0.07814, -5.51e-07, 1.35e-07]`
+- **Delta A**: `[0.000119, 0.002574, 0.002024, -3.24e-05, 3.28e-05, 0]`
+- **Delta D**: `[0.000286, 76.762, -83.383, 6.6206, -0.000122, -0.000937]`
+
+### Robot 119
+- **Status**: Linearised (2)
+- **Joint Checksums**: `[0xb455f77a, 0xb437b9f9, 0xb531fd6e, 0xb4249736, 0xb412c748, 0xb4159beb]`
+- **Delta Theta**: `[-2.02e-07, 1.1667, -0.8036, -0.3630, 6.26e-07, -6.46e-07]`
+- **Delta A**: `[3.599e-05, 0.37187, 0.03761, 2.029e-05, 8.37e-06, 0]`
+- **Delta D**: `[-3.65e-05, 435.77, -468.05, 32.2789, -9.01e-05, -0.000990]`
+
+### Robot 124
+- **Status**: Linearised (2)
+- **Joint Checksums**: `[0xb422f034, 0xb426d1c5, 0xb51f078c, 0xb42cfe2c, 0xb4085ec0, 0xb60c5894]`
+- **Delta Theta**: `[-1.08e-07, 1.1680, -1.2557, 0.08772, 5.66e-07, -7.58e-07]`
+- **Delta A**: `[8.745e-05, 0.37264, 0.002494, -2.41e-05, 5.98e-05, 0]`
+- **Delta D**: `[0.000127, 597.79, -604.85, 7.0589, -0.000134, -0.000920]`
+
+### Robot 125
+- **Status**: Linearised (2)
+- **Joint Checksums**: `[0xb435bb63, 0xb441d7b1, 0xb5198b08, 0xb40d9f92, 0xb41b2338, 0xb42edc4e]`
+- **Delta Theta**: `[-1.42e-07, 0.6731, -0.8223, 0.1492, 1.22e-06, 4.74e-09]`
+- **Delta A**: `[0.000105, 0.13394, 0.006690, -1.038e-05, 1.028e-05, 0]`
+- **Delta D**: `[0.000248, 681.73, -696.41, 14.6725, -0.000155, -0.000962]`
+
+## Technical Details
+
+### Calibration Status Codes
+- `0` = notInitialized
+- `1` = notLinearised  
+- `2` = Linearised (fully calibrated)
+
+### Parameter Explanations
+- **delta_theta**: Joint angle offsets in radians
+- **delta_a**: Link length offsets in meters
+- **delta_d**: Link offset corrections in meters
+- **delta_alpha**: Joint twist angle corrections in radians
+- **joint_checksum**: Unique identifiers for each joint's calibration
+- **joint_raw_offset**: Raw encoder offset values
+
+### File Contents
+Each backup contains:
+- `calibration.conf` - Main calibration configuration
+- `calibration_trajectory_*.ct` - Calibration trajectory files for different robot models
+- `joint_motor_calibration_id*.txt` - Individual joint motor calibration data
+- `robot_calibration_summary.txt` - Summary of calibration results
+- `calibration.log` - Calibration process log
+
+## Troubleshooting
+
+If you encounter issues after restoring calibration:
+
+1. **Double-check file locations**: Ensure files are in the correct `.urcontrol` directory
+2. **Verify file permissions**: Files should be readable by the Polyscope system
+3. **Check robot behavior**: Test in reduced speed mode first
+4. **Restore from backup**: If issues persist, restore your original calibration
+
+For critical production systems, consider contacting UR support before making calibration changes.
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