From 6319751b0bd0f31bf6761b9d7ff03883788f561c Mon Sep 17 00:00:00 2001
From: Jayant Khatkar <jayant.khatkar@student.uts.edu.au>
Date: Thu, 11 Feb 2021 13:28:33 +1100
Subject: [PATCH] r2 updated calibration
 (https://code.research.uts.edu.au/bigprint/twins-controller/-/issues/19)

---
 src/calibrations/r2_tforms.yaml | 60 ++++++++++++++++++++++-----------
 1 file changed, 40 insertions(+), 20 deletions(-)

diff --git a/src/calibrations/r2_tforms.yaml b/src/calibrations/r2_tforms.yaml
index 11fc584..3405ca7 100644
--- a/src/calibrations/r2_tforms.yaml
+++ b/src/calibrations/r2_tforms.yaml
@@ -1,31 +1,51 @@
 calibration:
-  pos_ET: [0.1501786134967717, -0.04659369938483249, -0.03661155990250987]
-  pos_WR: [-0.02293947304529091, 0.583177964050816, -0.13394458346472132]
+  pos_ET: [0.14835884926437554, -0.05101569978608572, -0.03124000565994875]
+  pos_WR: [-0.010627418386437387, 0.5839227870056072, -0.13693908973951746]
   quat_ET: [-0.2705980500730985, -0.6532814824381882, 0.27059805007309845, 0.6532814824381883]
-  quat_WR: [0.005077893908742152, 0.007918175551724624, 0.013359410788764806, 0.9998665129069784]
+  quat_WR: [0.004018429299237062, 0.006996625665453779, 0.01340808587420297, 0.9998775538476972]
 measurements:
   errors:
-  - [-0.0002168960447584468, -0.0010668195200736752, 0.00018006898437752938]
-  - [0.00016928366139346007, 0.0005170638802264593, 0.00037850513702630817]
-  - [0.0011599950953162796, 0.0003526010651510314, -0.00012294180296171242]
-  - [-0.0003939341283262232, -0.00011329636962762249, -0.00038522469969973216]
-  - [-0.0007184485836231325, 0.00031045094431508824, -5.0407618752634775e-05]
+  - [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]
   pos_RE:
-  - [0.0584231472040356, -0.7888108610213361, 0.29224624613259653]
-  - [-0.1453238446293856, -0.35482213917107674, 0.28432730816842033]
-  - [0.2834969700403753, -0.36612935013429077, 0.291672094257169]
-  - [-0.3807992876767562, -0.566308084352216, 0.28314301995943336]
-  - [0.4842187683428001, -0.2379454794306125, 0.19894353741958098]
+  - [-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]
   quat_RE:
-  - [0.27030443249517855, 0.6529994452370946, -0.2706893166892845, 0.6536471006007708]
-  - [0.2702398705984472, 0.6530912744201057, -0.27078819741106336, 0.6535410865111108]
-  - [0.27031418268873514, 0.653199293004063, -0.2706655963918572, 0.6534531820919948]
-  - [0.3529762575660405, 0.353731950105599, -0.1464218844920094, 0.8537224963716084]
-  - [0.0744084309460823, 0.7683808434582252, -0.5132226899090738, 0.3750423114437397]
+  - [-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]
 targets:
   pos_W:
-  - [0, -0.215, 0]
   - [-0.215, 0.215, 0]
+  - [0, 0.215, 0]
   - [0.215, 0.215, 0]
-  - [-0.322, 0, 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]
-- 
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