docker compose -f compose_extract_calibration.yml up –build
DH parameters are output as part of the print to the screen. For instance, as shown below.
checksum: [2838313744 2836074114 872220810 2831815457 2832813873 2831463901 ]
dh_theta: [1.47260881780409e-07 -0.269105576123165 7.60535947615225 -1.05306792003872 2.83668405937011e-06 -7.18859915569553e-08 ]
dh_a: [-0.000127253060419519 -0.23474883894576 -0.105623669090592 5.8009829549298e-05 -0.000126571815053639 0 ]
dh_d: [0.151872354245038 -44.3658624648315 120.257950804874 -75.761444361747 0.0853444740085875 0.0919415848135132 ]
dh_alpha: [1.57050858113481 0.00145929529361599 0.00244362635557041 1.57032865911141 -1.5723464771231 0 ]
However, those parameters have limited use, given the exaggerated parameters.
https://docs.universal-robots.com/Universal_Robots_ROS2_Documentation/doc/ur_robot_driver/ur_calibration/doc/algorithm.html
1.17.0