updated calibrations (#12)

calibrations/README.md

@@ -24,24 +24,18 @@ python Calibrator ../calibrations/rX_tforms.yaml
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 +---------------+---------------+---------------+
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 5               |       1       |               2
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-|               |               |               |
 +---------------+---------------+---------------+
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 4---------------+---------------+---------------3
                     ROBOT HERE
 ```

calibrations/r1_tforms.yaml

 calibration:
-  pos_ET: [0.14885085466107165, -0.052006706746552875, -0.03180325761311515]
-  pos_WR: [0.030510852445627096, -0.5832304614329086, -0.13143040024480324]
+  pos_ET: [0.14793146360636153, -0.052569355348980246, -0.0304177829795741]
+  pos_WR: [0.03341163962270335, -0.5830002666400109, -0.13579492883442026]
   quat_ET: [-0.2705980500730985, -0.6532814824381882, 0.27059805007309845, 0.6532814824381883]
-  quat_WR: [-0.0029816960949463804, 0.005867892094167384, -0.9999698348632657, 0.004123917349033938]
+  quat_WR: [-0.002812767427926746, 0.005330795877670438, -0.9999768220406939, 0.00316643902540395]
 measurements:
   errors:
-  - [-6.780509889077468e-05, -0.0008234081239124583, 0.0006319621179544099]
-  - [-0.0004747553510675018, 0.0004974273124071606, -0.00043471032126791986]
-  - [0.0004149172384439459, 4.62285700758569e-05, 0.00011872927185249682]
-  - [-0.0006788208327139778, -0.00024416701087698334, -0.00011872924343844793]
-  - [0.0008064640442121407, 0.0005239192523318519, -0.00019725182511860784]
+  - [-0.00046900552814215304, 5.89895485395551e-05, 0.001172358762829756]
+  - [0.00047906573090522597, 0.0005370036718203412, -0.0009689908867283881]
+  - [-0.000613376961166201, -0.00029110804967108495, 0.0003828116067682019]
+  - [6.259618229875752e-05, -0.0007091459124015098, -0.0003828115659200715]
+  - [0.0005407205758771738, 0.00040426074178992986, -0.00020336791757535888]
   pos_RE:
-  - [0.0859558903317337, -0.5717086387267721, 0.27250940154008674]
-  - [-0.35901378377633975, -0.5678128872203652, 0.27411083972217604]
-  - [-0.3554394863261184, -0.1462725315679744, 0.22432971587270678]
-  - [0.44764732655409917, -0.18322019077305723, 0.22427603086462028]
-  - [0.4792893492730324, -0.6020956395281154, 0.21614463526770086]
+  - [0.08853479155904041, -0.5697894971043413, 0.2762988275869424]
+  - [-0.3397702900448893, -0.5673326828532925, 0.2837794865741274]
+  - [-0.3522472294758017, -0.185006623752613, 0.2605544241109855]
+  - [0.4640504526825052, -0.20872380350171763, 0.23322086195591202]
+  - [0.4623170540561361, -0.5531256419342329, 0.23968272183571893]
   quat_RE:
-  - [0.27043565237081846, 0.6545270818689048, -0.26969184071577856, 0.6524761820007542]
-  - [0.3532705103596997, 0.35510677810177743, -0.1456878198021875, 0.853155426530042]
-  - [8.491625642831929e-05, 0.27250522067413735, -0.2704292680619324, 0.9233682409905903]
-  - [0.13723444544798774, 0.3940623165482286, -0.6935245662058696, 0.5872863643302031]
-  - [0.2846639863637568, 0.7074936714557246, -0.5185923633503153, 0.38662783189047434]
+  - [0.27267719384296685, 0.653875157298928, -0.26835994186736317, 0.6527460212258461]
+  - [0.3468441827819991, 0.39583630838015477, -0.1603396023903709, 0.8350472691671749]
+  - [0.17097363578838737, 0.3094649927659995, -0.2282317082128122, 0.9071437160030938]
+  - [0.06961549756967493, 0.7903705466894783, -0.2961400545184209, 0.5317604249412783]
+  - [0.12745875470923743, 0.8178485233463536, -0.20718603137739292, 0.521490179303739]
 targets:
   pos_W:
   - [0, 0, 0]