updated r1 calibration (twins-controller#19)

src/calibrations/r1_tforms.yaml

 calibration:
-  pos_ET: [0.14982225501989826, -0.048118796065005576, -0.03482924194973972]
-  pos_WR: [0.033410320051684865, -0.5779185680332759, -0.130]
+  pos_ET: [0.15007592984204163, -0.04830698520623148, -0.031668261140098686]
+  pos_WR: [0.03655708997718542, -0.575405839173846, -0.13224784915908203]
   quat_ET: [-0.2705980500730985, -0.6532814824381882, 0.27059805007309845, 0.6532814824381883]
-  quat_WR: [-0.0035406624036226648, 0.00401943913741378, -0.9999807593358486, 0.003128702105328147]
+  quat_WR: [-0.004907671722772035, 0.0026006325187357495, -0.9999828094804524, 0.0018794180869107977]
 measurements:
   errors:
-  - [0.0007463740373759575, 0.0007358258676100349, 2.272630091060268e-08]
-  - [-0.0009020387968710353, 0.00016398070836140533, 1.617623791638767e-05]
-  - [-0.00032259677224483196, -0.000623335143616649, 4.8670205514383946e-05]
-  - [3.681804322736015e-05, 3.621990973879134e-05, -2.1586398841921817e-05]
-  - [0.00044144348854441295, -0.00031269134204364724, -4.3282771052338687e-05]
+  - [-0.00035093605232278113, 0.0015154904646795808, 0.0005004698912217387]
+  - [0.0008203797060748544, 0.0008922491648686859, 0.0002722545866968018]
+  - [0.001289894680197884, 0.0009346809299097258, -0.0011471590539748888]
+  - [-0.00026782915015455266, -0.00019411428454588426, -0.00017438502446384674]
+  - [-0.000711953482581712, -0.00017432903503347696, 0.0007754958989695804]
+  - [-0.0009272510092923555, -0.001473229551918892, 0.0009148858434974705]
+  - [-0.0007779454099607619, -0.0013991536560543083, -9.067649884858531e-05]
+  - [-0.0006907081723367681, -0.00013629415861853315, 0.0005679499481896777]
+  - [0.0014934971392888685, -0.000434524141417425, -0.001318136805991993]
+  - [0.00012285175106990787, 0.0004692242681248698, -0.0003006987853121923]
   pos_RE:
-  - [0.08910742634272081, -0.7837172401184285, 0.27405864289606996]
-  - [-0.12486057160685166, -0.3528862439702894, 0.2790308995256403]
-  - [0.3056457370236582, -0.3563077645137278, 0.27594833824244247]
-  - [-0.3553141725527921, -0.56732851836896, 0.27599090687109595]
-  - [0.47642188171860617, -0.18642048697664007, 0.20344840058382788]
+  - [0.28238526739189035, -0.743445281602937, 0.2753943928759848]
+  - [0.06856808024088912, -0.7433152737798132, 0.27773399071687555]
+  - [-0.14592886427691276, -0.7424717736062426, 0.28125724809030916]
+  - [-0.14669659051873055, -0.528554844189385, 0.2813981571448582]
+  - [-0.1463260383308909, -0.3135266064730779, 0.28156287698542204]
+  - [0.06844080035242153, -0.3156302723662834, 0.27930760468097077]
+  - [0.283587823473315, -0.31634541818249157, 0.2781937485538753]
+  - [0.28285396776950816, -0.530129589269635, 0.2764449159253464]
+  - [0.5066506093478649, -0.20096898804832836, 0.16677352259446088]
+  - [-0.369184926735048, -0.5275417892542257, 0.2618225946251175]
   quat_RE:
-  - [0.2692242146471514, 0.6541983200550241, -0.27068386305481473, 0.6528959538598255]
-  - [0.26903425766037653, 0.6541193957881474, -0.2707136444182161, 0.6530409688409196]
-  - [0.2689585934995034, 0.6539863896443541, -0.2707389095513149, 0.653194856071048]
-  - [0.3517200864442189, 0.3547622789699167, -0.14691067603123373, 0.8537294416147239]
-  - [0.019597120228666234, 0.6766897609973048, -0.526359272046243, 0.5144442019996951]
+  - [0.004515506751761712, 0.7093312647790816, 0.0005263393718474751, 0.7048606174078313]
+  - [0.004551772876819091, 0.7093577385565347, 0.000732948249208785, 0.7048335568774383]
+  - [0.004513807736845369, 0.7093838031536429, 0.0007461847780781305, 0.7048075542807879]
+  - [0.00442392266478542, 0.709359777178923, 0.0006503084317854549, 0.7048324003107893]
+  - [0.004471491373419877, 0.7093586207919866, 0.0005390274408393596, 0.7048333578388627]
+  - [0.004466760991158438, 0.7093646956760709, 0.0005683729336144619, 0.7048272508401273]
+  - [0.004391686236732675, 0.7093756214129284, 0.0005693173620683987, 0.704816725620754]
+  - [0.00448742433570489, 0.7093749968660662, 0.000748052655762252, 0.7048165841276184]
+  - [-0.00045970685855608695, 0.6540762178342059, -0.653219981430286, 0.38142855922639246]
+  - [0.003642363656463826, 0.38561399879651764, 0.002617478574255283, 0.922649297363341]
 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]
-  - [0.322, 0, 0]
+  - [-0.215, 0, 0]
   - [-0.322, -0.322, 0]
+  - [0.322, 0, 0]