> ## Documentation Index
> Fetch the complete documentation index at: https://docs.mirurobotics.com/llms.txt
> Use this file to discover all available pages before exploring further.

# Calibrations

A **calibration** is a result a device reports to Miru after calibrating one of its [components](https://docs.mirurobotics.com/cfg-mgmt/concepts/components.md), such as the pose of a robot arm or the intrinsics of a RealSense D435.

Calibrations flow one way, from the device to Miru. Editing calibrations is not supported.

## Properties

**device** `Device`

immutable (Property cannot be modified)

The [device](https://docs.mirurobotics.com/concepts/devices/overview.md) that reported the calibration.

**component** `Component`

immutable (Property cannot be modified)

The [component](https://docs.mirurobotics.com/cfg-mgmt/concepts/components.md) that was calibrated.

Examples: `kuka-arm`, `realsense-d435`

**role** `Role`

immutable (Property cannot be modified)

 

nullable (Property does not need to be set)

The [role](https://docs.mirurobotics.com/cfg-mgmt/concepts/components.md#param-roles) the calibrated unit fills on the device.

Examples: `left`, `front-left`

**aspect** `Aspect`

immutable (Property cannot be modified)

 

nullable (Property does not need to be set)

The [aspect](https://docs.mirurobotics.com/cfg-mgmt/concepts/components.md#param-aspects) of the unit that was calibrated.

Examples: `pose`, `intrinsics`

**serial number** `string`

immutable (Property cannot be modified)

 

nullable (Property does not need to be set)

The serial number of the calibrated unit, not of the device. At most 255 characters.

Example: `SN-1234`

**format** `enum`

immutable (Property cannot be modified)

The file format of the calibration's content. Miru checks that `json`, `jsonc` and `yaml` content parses.

Allowed values:

* `json`
* `yaml`
* `jsonc`
* `xml`
* `text`

**content** `string`

immutable (Property cannot be modified)

The calibration result, exactly as the device reported it. At most 1 MiB.

**reported at** `datetime`

immutable (Property cannot be modified)

When the device reported the calibration. A device that was offline uploads its calibrations later, so this can be well before Miru received them.

## History

Calibrations are append-only. Every report adds a new calibration, even if its content matches an earlier one, and calibrations are never edited or deleted. They are only removed along with their device.

A device keeps a separate history for each component, role and aspect it reports. The most recently reported calibration in a history is that unit's current calibration.

## Report a calibration

Platform API (Platform API does not support this operation)

Calibrations can only be created on-device using the Miru Agent. Visit the [report calibrations](https://docs.mirurobotics.com/cfg-mgmt/report-calibrations.md) guide for more information.

## View calibrations

Platform API (Platform API does not support this operation)

To view a device's calibrations, open the device and navigate to the **Calibrations** page on the left.


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