Skip to content
GitLab
Menu
Projects
Groups
Snippets
/
Help
Help
Support
Community forum
Keyboard shortcuts
?
Submit feedback
Contribute to GitLab
Sign in
Toggle navigation
Menu
Open sidebar
bigprint
twins-planner
Commits
0c7dac46
Commit
0c7dac46
authored
Feb 18, 2021
by
Jayant Khatkar
Browse files
updated calibrations
parent
1fd5213a
Changes
2
Hide whitespace changes
Inline
Side-by-side
src/calibrations/r1_tforms.yaml
View file @
0c7dac46
calibration
:
pos_ET
:
[
0.15
02296461658024
,
-0.04698558961114961
,
-0.03111624301102413
5
]
pos_WR
:
[
0.03
844669361396861
,
-0.5729410791828
37
,
-0.1
3003114911618197
]
pos_ET
:
[
0.15
16247599700747
,
-0.04826058753450152
,
-0.0303661496314478
5
]
pos_WR
:
[
0.03
7166997252108196
,
-0.5810148525620
37
9
,
-0.1
2919427413858414
]
quat_ET
:
[
-0.2705980500730985
,
-0.6532814824381882
,
0.27059805007309845
,
0.6532814824381883
]
quat_WR
:
[
-0.005
519573998493153
,
0.0023551564258786424
,
-0.999981578967214
,
0.00
09106411601250241
]
quat_WR
:
[
-0.005
392743140044961
,
0.003600395500710226
,
-0.9999445842160306
,
-
0.00
8293610232815937
]
measurements
:
errors
:
-
[
0.00015395547326951808
,
0.002142423630859619
,
0.0003355815224046488
]
-
[
-1.721708528695104e-05
,
5.051743681194765e-05
,
0.00041670383526773436
]
-
[
0.00014560316238965143
,
-1.839592857558192e-05
,
-0.0009316653575424105
]
-
[
3.161792856745671e-05
,
-2.53463553584113e-05
,
-9.16948482303781e-05
]
-
[
-0.0010221720460194261
,
-1.0771535927212028e-05
,
0.0012171946733552097
]
-
[
-0.0010681151514920634
,
-0.0009799175199797783
,
2.801905010083039e-05
]
-
[
-6.682373151054022e-05
,
-0.0008270223124680898
,
-0.0008691193706457379
]
-
[
2.541162594885127e-05
,
0.0001367769605153022
,
0.0006730588199809484
]
-
[
0.001417878916551707
,
-0.0008426181698256152
,
-0.00037090151330573806
]
-
[
0.0003998609358597527
,
0.00037435379811547335
,
-0.0004071767733215548
]
-
[
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
]
pos_RE
:
-
[
0.28619790934684075
,
-0.7402544719962719
,
0.2742202952337487
]
-
[
0.07105893398903566
,
-0.7419692559154405
,
0.2765033963380906
]
-
[
-0.1437662590736294
,
-0.7416598402185833
,
0.2802276770777924
]
-
[
-0.1434836763099208
,
-0.5266801743305487
,
0.2804022408548177
]
-
[
-0.14417271043384325
,
-0.3116608075668326
,
0.2801197811161653
]
-
[
0.0708014310233577
,
-0.31297986484632256
,
0.2789127806741849
]
-
[
0.2867904938256065
,
-0.31325436323976485
,
0.2774381453273922
]
-
[
0.28647132057396424
,
-0.5272750808751241
,
0.2748870851772862
]
-
[
0.49198953051379024
,
-0.1614223801212086
,
0.15202211073521693
]
-
[
-0.36583396130433044
,
-0.5260828760890328
,
0.26097777977314823
]
-
[
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
]
quat_RE
:
-
[
0.0010413200769373307
,
0.7105862039337016
,
0.0006649326483706677
,
0.7036090678041056
]
-
[
0.001084891693411131
,
0.7106329642035853
,
0.0006550901734732243
,
0.7035617841057772
]
-
[
0.0010554592940128175
,
0.7106074401362242
,
0.0007063304987061758
,
0.7035875589618877
]
-
[
0.0011041161037969283
,
0.7106222933336699
,
0.0007199736181426762
,
0.7035724687498894
]
-
[
0.0011314856150625339
,
0.7105696678299577
,
0.0006810590537584474
,
0.7036256128502517
]
-
[
0.00101736222811157
,
0.7106283885489839
,
0.0006081311970953219
,
0.7035665487633834
]
-
[
0.0010867007796504266
,
0.7106128191421314
,
0.0007128943418593383
,
0.7035820720668952
]
-
[
0.0010999875504787095
,
0.7106047226468447
,
0.0006587354591232912
,
0.7035902815182887
]
-
[
-0.14338537701650084
,
0.8552601557202018
,
-0.3542228559665395
,
0.34999552569454434
]
-
[
0.00045600965998949725
,
0.3870842766393148
,
0.0012555108399978506
,
0.922043371282685
]
-
[
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
]
targets
:
pos_W
:
-
[
-0.215
,
0.215
,
0
]
-
[
0
,
0.215
,
0
]
-
[
0.215
,
0.215
,
0
]
-
[
0.215
,
0
,
0
]
-
[
0.215
,
-0.215
,
0
]
-
[
0
,
-0.215
,
0
]
-
[
-0.215
,
-0.215
,
0
]
-
[
-0.215
,
0
,
0
]
-
[
-0.322
,
-0.322
,
0
]
-
[
0.322
,
0
,
0
]
-
[
-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
]
src/calibrations/r2_tforms.yaml
View file @
0c7dac46
calibration
:
pos_ET
:
[
0.14
835884926437554
,
-0.05101569978608572
,
-0.03124000565994875
]
pos_WR
:
[
-
0.01
0627418386437387
,
0.5839227870056072
,
-0.13693908973951746
]
pos_ET
:
[
0.14
915829420325646
,
-0.04903787805768154
,
-0.03232536254175044
]
pos_WR
:
[
0.01
1423469251259488
,
0.5808524197568566
,
-0.13575120770105137
]
quat_ET
:
[
-0.2705980500730985
,
-0.6532814824381882
,
0.27059805007309845
,
0.6532814824381883
]
quat_WR
:
[
0.00
4018429299237062
,
0.006996625665453779
,
0.01340808587420297
,
0.9998775538476972
]
quat_WR
:
[
0.00
35729243703551505
,
0.0090184032826521
,
0.002047056792923897
,
0.9999508548784594
]
measurements
:
errors
:
-
[
0.0006813236515303134
,
0.0006129463435987914
,
0.0013929481667337429
]
-
[
-0.00024725918644739474
,
9.404169251286953e-05
,
0.0009602953673004955
]
-
[
0.0015576293425343946
,
0.0006883912204642406
,
-0.00029308687109605436
]
-
[
0.000779930719445765
,
0.0003759806859402132
,
0.0008271893820498699
]
-
[
7.304459701060195e-05
,
0.0006736893226877705
,
0.0003368886434861884
]
-
[
-0.0003570847499106723
,
-0.0007262376789738401
,
0.0005382805359192
]
-
[
-0.0002364070053330336
,
-0.0011664539061476131
,
-0.001154907061033994
]
-
[
-0.0001352077455830103
,
-0.00013061365006294696
,
0.00028429478497893346
]
-
[
-0.0015476814890094115
,
-0.0009546802712636637
,
-0.0015623505751230782
]
-
[
-0.0005682881342172763
,
0.0005329362411927233
,
-0.001329552373290216
]
-
[
0.0007118948614319442
,
0.00020913249133115708
,
-0.00013982777032800486
]
-
[
-0.0006813977814875277
,
2.8269230098881826e-06
,
0.0002524142395778639
]
-
[
-0.0007055083624778608
,
-0.0002221226048078062
,
0.00025135210031412836
]
-
[
0.00011358293984881085
,
-0.0004546972684680295
,
-0.00012133672899916625
]
-
[
0.0003211694052368541
,
-2.7204811226755332e-05
,
5.791637767843527e-06
]
-
[
0.0002402589374698727
,
0.0004920652701387751
,
-0.00024839347837310455
]
pos_RE
:
-
[
-0.2516333141744929
,
-0.4116135285217244
,
0.2838269936302523
]
-
[
-0.03569841229825402
,
-0.4168126158425754
,
0.28734125017362583
]
-
[
0.24244995801074226
,
-0.3227479442687924
,
0.2916273069796633
]
-
[
0.2374514574589102
,
-0.5372722864969137
,
0.2921697532987558
]
-
[
0.23239976869138032
,
-0.752604723454361
,
0.29438911948400937
]
-
[
0.01793577852956694
,
-0.7454651413961082
,
0.2911579226345641
]
-
[
-0.19707881059004123
,
-0.7392570518696477
,
0.2898110516380218
]
-
[
-0.19142090121444796
,
-0.5253758527490331
,
0.2866899174595985
]
-
[
0.4514052192838754
,
-0.17315530120426997
,
0.16782516172568673
]
-
[
-0.41181446035551367
,
-0.5231822041500221
,
0.26474937945857546
]
-
[
-0.09190176234043812
,
-0.41829582452794056
,
0.2852776829944212
]
-
[
0.12348119855353104
,
-0.4189782488473766
,
0.2887740203386506
]
-
[
0.12262065357631115
,
-0.6328029955261978
,
0.2903130029444766
]
-
[
-0.09220405633842493
,
-0.631680524271811
,
0.28680698507295094
]
-
[
-0.42037948591155627
,
-0.1262502882163325
,
0.18604966373794765
]
-
[
0.4333075100168432
,
-0.5273106873954909
,
0.22786684131555804
]
quat_RE
:
-
[
-0.7125705366105385
,
0.012338676350220358
,
0.7014665647172886
,
0.005970427473748586
]
-
[
-0.712339087472529
,
0.012479682698013866
,
0.7017001944059005
,
0.005841159926140043
]
-
[
0.005776243616249791
,
0.7017154369662358
,
-0.012225265761511742
,
0.7123290134551805
]
-
[
0.005659374403786875
,
0.7015898303485616
,
-0.012702699723373503
,
0.7124453121837298
]
-
[
0.0058284701671850805
,
0.7017109355724586
,
-0.012335409034162628
,
0.7123311235075266
]
-
[
0.005855945398806817
,
0.7016197380345921
,
-0.01237868643592102
,
0.7124199739099665
]
-
[
0.005885376929000516
,
0.701654436032305
,
-0.012414365346432909
,
0.7123849368618322
]
-
[
0.005851425014664891
,
0.7016348575693929
,
-0.012422089098676122
,
0.7124043649299883
]
-
[
-0.14844789488467267
,
0.8452562622375918
,
-0.3653918924445301
,
0.3605465831043883
]
-
[
0.010261743930004405
,
0.3753576819693063
,
-0.009272099412404424
,
0.9267768530615288
]
-
[
0.006515580247030206
,
0.7023024009900304
,
-0.01165454420868889
,
0.7117535081592299
]
-
[
0.0066305345146237035
,
0.7023154257589007
,
-0.0117251170821735
,
0.7117384353697317
]
-
[
0.006786242123042527
,
0.7023190309385575
,
-0.011622802796997279
,
0.7117350884665691
]
-
[
0.006686775020962695
,
0.7022525601966544
,
-0.01159661125540998
,
0.7118020422452117
]
-
[
-0.34482086935268985
,
0.34458102267952256
,
-0.1516325705466584
,
0.8598662979890548
]
-
[
0.0016689709834896748
,
0.9211301185124712
,
-0.013746749614195232
,
0.38900841402224406
]
targets
:
pos_W
:
-
[
-0.215
,
0.215
,
0
]
-
[
0
,
0.215
,
0
]
-
[
0.215
,
0.215
,
0
]
-
[
0.215
,
0
,
0
]
-
[
0.215
,
-0.215
,
0
]
-
[
0
,
-0.215
,
0
]
-
[
-0.215
,
-0.215
,
0
]
-
[
-0.215
,
0
,
0
]
-
[
0.322
,
0.322
,
0
]
-
[
-0.322
,
0
,
0
]
-
[
-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
]
Write
Preview
Supports
Markdown
0%
Try again
or
attach a new file
.
Cancel
You are about to add
0
people
to the discussion. Proceed with caution.
Finish editing this message first!
Cancel
Please
register
or
sign in
to comment