r1_tforms.yaml 1.92 KB
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calibration:
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  pos_ET: [0.1516247599700747, -0.04826058753450152, -0.03036614963144785]
  pos_WR: [0.037166997252108196, -0.5810148525620379, -0.12919427413858414]
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  quat_ET: [-0.2705980500730985, -0.6532814824381882, 0.27059805007309845, 0.6532814824381883]
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  quat_WR: [-0.005392743140044961, 0.003600395500710226, -0.9999445842160306, -0.008293610232815937]
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measurements:
  errors:
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  - [0.0007437610852775028, -0.0006046658823261747, 4.24540212567992e-05]
  - [-5.341005719901315e-05, 0.0008258059763807668, -0.00025936323953684726]
  - [-2.5978214362745722e-05, 0.000830921551803393, 0.0006872667072718996]
  - [0.0009255813671708024, -0.0005775288249141725, 0.0007949377003466374]
  - [-0.0011982916905853291, -0.00014457194489120306, -0.0005646117382213378]
  - [-0.0003916624902778332, -0.0003299608756595681, -0.0007006834508534732]
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  pos_RE:
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  - [0.18964825593079257, -0.6393758624911104, 0.27405794047855914]
  - [-0.02513299849359395, -0.6415143098670496, 0.276673691958613]
  - [-0.02863189112154032, -0.42751022007660805, 0.27727316990660483]
  - [0.18630043922776565, -0.425373503530969, 0.2748589581050145]
  - [-0.38396068975973835, -0.14623917383277024, 0.1688211394482065]
  - [0.4994577109697928, -0.5286273105161743, 0.2063493951827226]
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  quat_RE:
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  - [0.0016781248064298682, 0.7107460857758513, 0.0010961444418940741, 0.7034457931630576]
  - [0.0017086822993063674, 0.7107165503472197, 0.0010233982081753635, 0.7034756698873499]
  - [0.001617811545481769, 0.7107865379895457, 0.0010041419967081772, 0.703405197448448]
  - [0.0017220571220963182, 0.7107738370839947, 0.0010186509096965209, 0.7034177630586873]
  - [-0.5490333974463213, 0.3806146143013737, -0.057474162197170046, 0.7418837945045708]
  - [0.0022238567542823004, 0.9257587065966942, 5.6159031643643816e-05, 0.3781082761163998]
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targets:
  pos_W:
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  - [-0.107, 0.107, 0]
  - [0.107, 0.107, 0]
  - [0.107, -0.107, 0]
  - [-0.107, -0.107, 0]
  - [0.322, -0.322, 0]
  - [-0.322, 0, 0]