New calibration

ethz-asl · Sep 7, 2023 · 9090f66 · 9090f66
1 parent c200fe6
commit 9090f66
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Showing 2 changed files with 3 additions and 3 deletions.
diff --git a/moma_bringup/config/apriltags.yaml b/moma_bringup/config/apriltags.yaml
@@ -21,7 +21,7 @@
 #   ]
 standalone_tags:
   [
-    {id: 0, size: 0.16}
+    {id: 0, size: 0.23}
   ]
 # ## Tag bundle definitions
 # ### Remarks

diff --git a/moma_description/urdf/panda_arm.xacro b/moma_description/urdf/panda_arm.xacro
@@ -13,8 +13,8 @@
         hand:=true
         gazebo:=false
         use_wrist_camera:=false
-        wrist_calibration_rpy:='-1.8496651 -1.5663079 -2.0611032'
-        wrist_calibration_xyz:='0.019939866636952783 -0.024666706576001673 0.08173953529353692'
+        wrist_calibration_rpy:='-1.117916 -1.5611535 -2.8045692'
+        wrist_calibration_xyz:='0.03062033586096833 -0.025020246008959142 0.10095534939725603'
         wrist_camera_parent_link:='panda_link8'
         use_fixed_camera:=false
         fixed_calibration_rpy:='-0.1566281 1.3870703 2.9725147'