diff --git a/src/calibration_correction.cpp b/src/calibration_correction.cpp
index cee20d5..624547e 100644
--- a/src/calibration_correction.cpp
+++ b/src/calibration_correction.cpp
@@ -66,37 +66,79 @@ int main(int argc, char* argv[])
   my_robot.segments_.push_back(DHSegment(0.1157  , 0      , 0    , -M_PI_2));
   my_robot.segments_.push_back(DHSegment(0.0922  , 0      , 0    , 0));
   // clang-format on
-  //DHRobot my_robot_calibration;
-  // clang-format off
+  std::map<std::string, DHRobot> calibrations;
   //                                                 d,                        a,                        theta, alpha
-  // ids-ur10-2
-   //my_robot_calibration.segments_.push_back(DHSegment( 0.00065609212979853    ,  4.6311376834935676e-05 , -7.290070070824746e-05  ,  0.000211987863869334  ));
-   //my_robot_calibration.segments_.push_back(DHSegment( 1.4442162376284788     , -0.00012568315331862312 , -0.01713897289704999    , -0.0072553625957652995));
-   //my_robot_calibration.segments_.push_back(DHSegment( 0.854147723854608      ,  0.00186216581161458    , -0.03707159413492756    , -0.013483226769541364 ));
-   //my_robot_calibration.segments_.push_back(DHSegment(-2.2989425877563705     ,  9.918593870679266e-05  , 0.054279462160583214   ,  0.0013495820227329425 ));
-   //my_robot_calibration.segments_.push_back(DHSegment(-1.573498686836816e-05  ,  4.215462720453189e-06  , 1.488984257025741e-07  , -0.001263136163679901 ));
-   //my_robot_calibration.segments_.push_back(DHSegment( 1.9072435590711256e-05 ,  0                      , 1.551499479707493e-05  ,  0 ));
-  //
-  // ids-ur10-3
-   //my_robot_calibration.segments_.push_back(DHSegment(0.000489427369583322891 , -0.000157659251888300598 , 7.12144160891142552e-06 , -0.000181484221894123721));
-   //my_robot_calibration.segments_.push_back(DHSegment(2.15820897072427709     , 0.000797598154419598693  , -0.0597679909195674153  , -0.0169424433153391799  ));
-   //my_robot_calibration.segments_.push_back(DHSegment(-0.200070560336579328   , 0.00141079051860837357   , 0.0276740817239430857   , -0.00936706021457411366 ));
-   //my_robot_calibration.segments_.push_back(DHSegment(-1.95850825255269623    , 8.02528233902343753e-05  , 0.0321549453426039911   , 0.000705308984090935454 ));
-   //my_robot_calibration.segments_.push_back(DHSegment(-2.27384815544295904e-05, 2.49305433182637798e-06  , -7.91131358362739777e-05, -0.000129247903554619015));
-   //my_robot_calibration.segments_.push_back(DHSegment(1.40058148229704749e-05 , 0                        , 2.43093497590859384e-05 , 0                       ));
-  // clang-format on
-  //my_calibration.reset(new Calibration(my_robot + my_robot_calibration));
-   my_calibration.reset(new Calibration(my_robot));
+  {
+    DHRobot robot_calibration;
+    // clang-format off
+    robot_calibration.segments_.push_back(DHSegment( 0.00065609212979853    ,  4.6311376834935676e-05 , -7.290070070824746e-05  ,  0.000211987863869334  ));
+    robot_calibration.segments_.push_back(DHSegment( 1.4442162376284788     , -0.00012568315331862312 , -0.01713897289704999    , -0.0072553625957652995));
+    robot_calibration.segments_.push_back(DHSegment( 0.854147723854608      ,  0.00186216581161458    , -0.03707159413492756    , -0.013483226769541364 ));
+    robot_calibration.segments_.push_back(DHSegment(-2.2989425877563705     ,  9.918593870679266e-05  , 0.054279462160583214   ,  0.0013495820227329425 ));
+    robot_calibration.segments_.push_back(DHSegment(-1.573498686836816e-05  ,  4.215462720453189e-06  , 1.488984257025741e-07  , -0.001263136163679901 ));
+    robot_calibration.segments_.push_back(DHSegment( 1.9072435590711256e-05 ,  0                      , 1.551499479707493e-05  ,  0 ));
+    // clang-format on
+    calibrations.insert(std::make_pair("ids-ur10-2", robot_calibration));
+  }
+  {
+    DHRobot robot_calibration;
+    // clang-format off
+    robot_calibration.segments_.push_back(DHSegment(0.000489427369583322891 , -0.000157659251888300598 , 7.12144160891142552e-06 , -0.000181484221894123721));
+    robot_calibration.segments_.push_back(DHSegment(2.15820897072427709     , 0.000797598154419598693  , -0.0597679909195674153  , -0.0169424433153391799  ));
+    robot_calibration.segments_.push_back(DHSegment(-0.200070560336579328   , 0.00141079051860837357   , 0.0276740817239430857   , -0.00936706021457411366 ));
+    robot_calibration.segments_.push_back(DHSegment(-1.95850825255269623    , 8.02528233902343753e-05  , 0.0321549453426039911   , 0.000705308984090935454 ));
+    robot_calibration.segments_.push_back(DHSegment(-2.27384815544295904e-05, 2.49305433182637798e-06  , -7.91131358362739777e-05, -0.000129247903554619015));
+    robot_calibration.segments_.push_back(DHSegment(1.40058148229704749e-05 , 0 , 2.43093497590859384e-05 , 0 ));
+    // clang-format on
+    calibrations.insert(std::make_pair("ids-ur10-3", robot_calibration));
+  }
+  // my_calibration.reset(new Calibration(my_robot));
 
-  my_calibration->correctChain();
+  for (auto& calib : calibrations)
+  {
+    Eigen::Matrix<double, 6, 1> jointvalues;
 
-  ROS_INFO_STREAM("Corrected calibration: " << std::endl << my_calibration->toXacroProperties());
+    double min_error = 9999;
+    double max_error = 0;
+    double mean_error = 0;
+    const size_t num_runs = 100000;
+    for (size_t i = 0; i < num_runs; ++i)
+    {
+      Calibration calibration(my_robot + calib.second);
+      jointvalues = 2 * M_PI * Eigen::Matrix<double, 6, 1>::Random();
+      Eigen::Matrix4d fk_orig = calibration.calcForwardKinematics(jointvalues);
+      calibration.correctChain();
+      Eigen::Matrix4d fk_corrected = calibration.calcForwardKinematics(jointvalues);
 
-  tf_listener.reset(new tf::TransformListener);
+      Eigen::Vector3d error;
+      error << fk_orig.topRightCorner(3, 1) - fk_corrected.topRightCorner(3, 1);
 
-  ros::Subscriber joint_state_sub = nh.subscribe("joint_states", 1, jointStateCallback);
+      if (error.norm() < min_error)
+      {
+        min_error = error.norm();
+      }
+      if (error.norm() > max_error)
+      {
+        max_error = error.norm();
+      }
+      mean_error += error.norm() / static_cast<double>(num_runs);
+    }
 
-  ros::spin();
+    ROS_INFO_STREAM(calib.first << ": Error over " << num_runs << " joint angles (mean, min, max): (" << mean_error
+                                << ", " << min_error << ", " << max_error << ")");
+    // Calibration calibration(my_robot + calib.second);
+    // calibration.correctChain();
+    // ROS_INFO_STREAM("Corrected calibration: " << std::endl << calibration.toXacroProperties());
+  }
+  // my_calibration->correctChain();
+
+  // ROS_INFO_STREAM("Corrected calibration: " << std::endl << my_calibration->toXacroProperties());
+
+  // tf_listener.reset(new tf::TransformListener);
+
+  // ros::Subscriber joint_state_sub = nh.subscribe("joint_states", 1, jointStateCallback);
+
+  // ros::spin();
 
   return 0;
 }