Working calibration

config/calibration_poses_ulite6.yml

@@ -0,0 +1,31 @@
+---
+calibration_poses:
+  - position: {x: 0.25, y: 0.03, z: 0.39}
+    orientation_rpy_deg: {roll: -180.00, pitch: 1.00, yaw: 2.00}
+
+  - position: {x: 0.24, y: 0.06, z: 0.45}
+    orientation_rpy_deg: {roll: -180.00, pitch: 2.00, yaw: 1.00}
+
+  - position: {x: 0.24, y: 0.05, z: 0.45}
+    orientation_rpy_deg: {roll: +180.00, pitch: 1.00, yaw: 47.0}
+
+  - position: {x: 0.24, y: -0.08, z: 0.45}
+    orientation_rpy_deg: {roll: -180.00, pitch: 1.00, yaw: -47.0}
+
+  - position: {x: 0.24, y: 0.07, z: 0.50}
+    orientation_rpy_deg: {roll: -180.00, pitch: 4.00, yaw: 4.00}
+
+  - position: {x: 0.19, y: -0.20, z: 0.38}
+    orientation_rpy_deg: {roll: -151.00, pitch: 0.00, yaw: 18.0}
+
+  - position: {x: 0.25, y: 0.13, z: 0.39}
+    orientation_rpy_deg: {roll: 156.00, pitch: 5.80, yaw: 25.1}
+
+  - position: {x: 0.26, y: 0.14, z: 0.31}
+    orientation_rpy_deg: {roll: 161.00, pitch: 10.00, yaw: 20.00}
+
+  - position: {x: 0.13, y: -0.03, z: 0.36}
+    orientation_rpy_deg: {roll: 176.00, pitch: -21.00, yaw: 5.00}
+
+  - position: {x: 0.33, y: 0.01, z: 0.36}
+    orientation_rpy_deg: {roll: 180.00, pitch: 16.00, yaw: -2.00}