From 9090f661ab880a294892ce964e2af501c8e1d385 Mon Sep 17 00:00:00 2001 From: Nikhilesh Alatur Date: Thu, 7 Sep 2023 13:46:09 +0200 Subject: [PATCH] New calibration --- moma_bringup/config/apriltags.yaml | 2 +- moma_description/urdf/panda_arm.xacro | 4 ++-- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/moma_bringup/config/apriltags.yaml b/moma_bringup/config/apriltags.yaml index 5c568009..fbf5e50b 100644 --- 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 index f926b641..4c0b2374 100644 --- 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'