calibration_info:
  robot_base_frame: ur15_base
  robot_ee_frame: wpg_tcp
  num_samples: 30
  timestamp: '20260426_183236'
  chessboard: "6\xD79  2.5 cm"
  urdf_correction_applied: true
  primary_method: Park
  reprojection_error_mean_px: 0.033
  reprojection_error_per_sample:
  - 0.0227
  - 0.029
  - 0.0348
  - 0.0416
  - 0.0358
  - 0.0403
  - 0.0362
  - 0.0267
  - 0.035
  - 0.0334
  - 0.0804
  - 0.0352
  - 0.0423
  - 0.0318
  - 0.0299
  - 0.0332
  - 0.0174
  - 0.0282
  - 0.0245
  - 0.0417
  - 0.0234
  - 0.0241
  - 0.0262
  - 0.022
  - 0.0333
  - 0.0273
  - 0.033
  - 0.0363
  - 0.0206
  - 0.0426
  reprojection_quality: sehr gut
urdf_ready:
  comment: Trage diese Werte in das URDF-Joint ein. parent = robot_ee_frame, child
    = zed2i_camera_link
  parent_link: wpg_tcp
  child_link: zed2i_camera_link
  xyz: -0.002383 0.151029 -0.223809
  rpy: -0.350503 -1.550799 -1.195959
  xml: "<joint name=\"zed2i_calibration_joint\" type=\"fixed\">\n  <parent link=\"\
    wpg_tcp\"/>\n  <child  link=\"zed2i_camera_link\"/>\n  <origin xyz=\"-0.002383\
    \ 0.151029 -0.223809\" rpy=\"-0.350503 -1.550799 -1.195959\"/>\n</joint>"
T_tool0_optical_primary:
  position:
    x: 0.05716083404927878
    y: 0.16767217704586557
    z: -0.23393694438941726
  orientation:
    quaternion:
      x: 0.003547237402142079
      y: -0.009348261403129162
      z: 0.9998759956085883
      w: -0.012166368451015494
    euler_deg:
      roll: -1.0761330731655292
      pitch: -0.39340314816971134
      yaw: -178.6020381905189
    euler_rad:
      roll: -0.01878206531634352
      pitch: -0.006866180223272567
      yaw: -3.11719361719721
T_tool0_camera_link_urdf:
  position:
    x: -0.0023827319245876347
    y: 0.1510293980251858
    z: -0.22380868404597026
  orientation:
    quaternion:
      x: -0.49095430157829134
      y: -0.49957343262716686
      z: -0.4967553255792808
      w: 0.5124689314324375
    euler_deg:
      roll: -20.082328182881184
      pitch: -88.85422068925354
      yaw: -68.52340459257414
    euler_rad:
      roll: -0.3505027482573266
      pitch: -1.5507987053211396
      yaw: -1.1959590248166223
all_methods_T_tool0_optical:
  Park:
    position:
      x: 0.05716083404927878
      y: 0.16767217704586557
      z: -0.23393694438941726
    orientation:
      quaternion:
        x: 0.003547237402142079
        y: -0.009348261403129162
        z: 0.9998759956085883
        w: -0.012166368451015494
      euler_deg:
        roll: -1.0761330731655292
        pitch: -0.39340314816971134
        yaw: -178.6020381905189
      euler_rad:
        roll: -0.01878206531634352
        pitch: -0.006866180223272567
        yaw: -3.11719361719721
  Horaud:
    position:
      x: 0.057136190719194443
      y: 0.16765694414818436
      z: -0.2339468977296393
    orientation:
      quaternion:
        x: 0.003630021470090753
        y: -0.009368087445189794
        z: 0.9998771259133685
        w: -0.012033077618292386
      euler_deg:
        roll: -1.0784675950405134
        pitch: -0.4030044767649899
        yaw: -178.6172150300384
      euler_rad:
        roll: -0.01882281040952183
        pitch: -0.00703375501982606
        yaw: -3.1174585030168727
  Tsai-Lenz:
    position:
      x: 0.04481266155416717
      y: 0.2435182179778011
      z: 0.21535580502218313
    orientation:
      quaternion:
        x: -0.05012505823043607
        y: -0.045766632879360766
        z: 0.711388208856668
        w: -0.6995139099060025
      euler_deg:
        roll: 0.28975739312837834
        pitch: 7.778601457357391
        yaw: -90.94469234821972
      euler_rad:
        roll: 0.005057220542085794
        pitch: 0.13576220663131577
        yaw: -1.5872843186897274
  Andreff:
    position:
      x: 0.05388346141332516
      y: 0.167714138255488
      z: -0.20320610963826796
    orientation:
      quaternion:
        x: 0.0036454569434346586
        y: -0.00956123156850599
        z: 0.9998733901841879
        w: -0.012185938459785712
      euler_deg:
        roll: -1.1006833552794957
        pitch: -0.40433770267586144
        yaw: -178.59960272337037
      euler_rad:
        roll: -0.01921054857152571
        pitch: -0.007057024201643669
        yaw: -3.117151110276644
  Daniilidis:
    position:
      x: 0.05716790055086161
      y: 0.16935340866289725
      z: -0.23462500810294235
    orientation:
      quaternion:
        x: 0.0032378448570958792
        y: -0.009294977232385423
        z: 0.999881026732729
        w: -0.011876537325085779
      euler_deg:
        roll: -1.069488778434596
        pitch: -0.3583378755983375
        yaw: -178.63560664840585
      euler_rad:
        roll: -0.01866610049681583
        pitch: -0.006254175763792835
        yaw: -3.1177794973121546
all_methods_urdf_ready:
  Park:
    position:
      x: -0.0023827319245876347
      y: 0.1510293980251858
      z: -0.22380868404597026
    orientation:
      quaternion:
        x: -0.49095430157829134
        y: -0.49957343262716686
        z: -0.4967553255792808
        w: 0.5124689314324375
      euler_deg:
        roll: -20.082328182881184
        pitch: -88.85422068925354
        yaw: -68.52340459257414
      euler_rad:
        roll: -0.3505027482573266
        pitch: -1.5507987053211396
        yaw: -1.1959590248166223
  Horaud:
    position:
      x: -0.002410078810917808
      y: 0.1510295830575552
      z: -0.223809213171069
    orientation:
      quaternion:
        x: -0.491052991159989
        y: -0.4994560473081895
        z: -0.4967910571350882
        w: 0.5124541562234701
      euler_deg:
        roll: -20.49125571943411
        pitch: -88.84870256645051
        yaw: -68.12975227665787
      euler_rad:
        roll: -0.35763988017224463
        pitch: -1.5507023959096975
        yaw: -1.1890884957957826
  Tsai-Lenz:
    position:
      x: 0.05875724984351677
      y: 0.18246839937775225
      z: 0.21721809026930916
    orientation:
      quaternion:
        x: -0.04200869607956567
        y: 0.7076302720568729
        z: 0.053882995030231355
        w: -0.7032718467057977
      euler_deg:
        roll: 92.12019469265488
        pitch: -82.21603677329662
        yaw: -93.08458640063303
      euler_rad:
        roll: 1.6078007049650334
        pitch: -1.4349405396347608
        yaw: -1.6246325155481838
  Andreff:
    position:
      x: -0.005657407836661681
      y: 0.1510647136496657
      z: -0.19307291916088085
    orientation:
      quaternion:
        x: -0.49088583854966517
        y: -0.4994263200660165
        z: -0.49680161317473676
        w: 0.5126330085779572
      euler_deg:
        roll: -20.172333226082028
        pitch: -88.82740769479467
        yaw: -68.43115340738896
      euler_rad:
        roll: -0.3520736326045811
        pitch: -1.5503307302855134
        yaw: -1.194348937896274
  Daniilidis:
    position:
      x: -0.0023916072608648267
      y: 0.15274649738178545
      z: -0.22453166738115057
    orientation:
      quaternion:
        x: -0.49097367851617685
        y: -0.49961237098416683
        z: -0.49703081089146656
        w: 0.512145193073648
      euler_deg:
        roll: -18.524925165628964
        pitch: -88.8720827305683
        yaw: -70.11402597618495
      euler_rad:
        roll: -0.3233209378257813
        pitch: -1.5511104567532092
        yaw: -1.2237206051132585
raw_samples:
- T_base_tool0:
  - - 0.6201364424790752
    - -0.7616148852593555
    - -0.18807859862508483
    - 0.0799809395398764
  - - -0.7830827411839093
    - -0.6153415352488885
    - -0.0902009725969499
    - -0.4864769950306681
  - - -0.04703417023071094
    - 0.20321801482378468
    - -0.9780031826542226
    - 0.2213998162868014
  - - 0.0
    - 0.0
    - 0.0
    - 1.0
  T_optical_target:
  - - -0.6128838948985778
    - -0.789413997066953
    - -0.03462473983621754
    - 0.27213069206623286
  - - 0.7678141356494065
    - -0.6053198194686005
    - 0.20987941598798013
    - 0.1577430528504712
  - - -0.1866407899439556
    - 0.1020463492403211
    - 0.9771139944427252
    - 0.45906824922894196
  - - 0.0
    - 0.0
    - 0.0
    - 1.0
  reproj_error_px: 0.0227
- T_base_tool0:
  - - 0.9975375601087222
    - 0.004578075926488643
    - 0.06998469399196357
    - -0.07752944527512426
  - - 0.005927976309046324
    - -0.9998001381649475
    - -0.019093004536518424
    - -0.1857594351108569
  - - 0.06988329749816376
    - 0.019460856768483567
    - -0.9973653291470581
    - 0.26289736990372004
  - - 0.0
    - 0.0
    - 0.0
    - 1.0
  T_optical_target:
  - - -0.9959670149212643
    - -0.005176952273526756
    - 0.08957066681667485
    - 0.10486390172246657
  - - 0.007849708533397622
    - -0.9995335690274777
    - 0.029513157457869497
    - 0.005052785231201826
  - - 0.08937610007584161
    - 0.030097234961868502
    - 0.9955431026243331
    - 0.48697122526391445
  - - 0.0
    - 0.0
    - 0.0
    - 1.0
  reproj_error_px: 0.029
- T_base_tool0:
  - - 0.8423873822712877
    - 0.41781486099534443
    - 0.34031491316362916
    - -0.29467601002989774
  - - 0.516931571106835
    - -0.8049239748859147
    - -0.29134025716827866
    - -0.08541716572555957
  - - 0.15220134356551104
    - 0.42134087931899095
    - -0.8940394926576525
    - 0.2681897148736119
  - - 0.0
    - 0.0
    - 0.0
    - 1.0
  T_optical_target:
  - - -0.8419488594602779
    - 0.5099357172136694
    - 0.17631699397198758
    - 0.08064190155385524
  - - -0.399102835405901
    - -0.808495105118755
    - 0.43249577081167345
    - -0.0163228189345986
  - - 0.36309646765633447
    - 0.29377070873181677
    - 0.8842283222486702
    - 0.613691599870351
  - - 0.0
    - 0.0
    - 0.0
    - 1.0
  reproj_error_px: 0.0348
- T_base_tool0:
  - - 0.0025131762149232795
    - 0.7517978113481806
    - 0.6593889101261852
    - -0.4446651683268389
  - - 0.9954769402259581
    - 0.06074184850306904
    - -0.07304854083959783
    - -0.4479391738399713
  - - -0.09497023440887636
    - 0.6565900385267169
    - -0.7482447299405506
    - 0.13929184331805222
  - - 0.0
    - 0.0
    - 0.0
    - 1.0
  T_optical_target:
  - - -0.005684302883424988
    - 0.9972555802824195
    - -0.07381731704894073
    - -0.04322931929122878
  - - -0.7375654645242316
    - 0.045665705821319846
    - 0.6737297891981584
    - 0.00028572865412572024
  - - 0.6752517117652377
    - 0.058274787922522664
    - 0.735281697617111
    - 0.5525369399731761
  - - 0.0
    - 0.0
    - 0.0
    - 1.0
  reproj_error_px: 0.0416
- T_base_tool0:
  - - 0.20059613019451802
    - -0.7737369731365181
    - 0.6009095513906595
    - -0.1850042633720098
  - - -0.9750126182665523
    - -0.21743949090365347
    - 0.045502329792692864
    - -0.4807365843617568
  - - 0.09545463200906995
    - -0.5950219863140349
    - -0.7980208324542124
    - 0.3391821252649805
  - - 0.0
    - 0.0
    - 0.0
    - 1.0
  T_optical_target:
  - - -0.1868282722149404
    - -0.9782909626493532
    - 0.08967713811101641
    - 0.20008215357063514
  - - 0.7777266663533937
    - -0.20305864805399026
    - -0.594902023776456
    - 0.06905698546836662
  - - 0.6001969919484913
    - -0.04140021556813306
    - 0.7987800654791626
    - 0.5520001092943054
  - - 0.0
    - 0.0
    - 0.0
    - 1.0
  reproj_error_px: 0.0358
- T_base_tool0:
  - - 0.9983836480419066
    - -0.05681686276998923
    - -0.0013911964312928043
    - 0.021951283837458507
  - - -0.038635926741274064
    - -0.6964543900528866
    - 0.7165602192006646
    - -0.573471035706213
  - - -0.04168160850275734
    - -0.7153482555238657
    - -0.6975238467834524
    - 0.3685025074713939
  - - 0.0
    - 0.0
    - 0.0
    - 1.0
  T_optical_target:
  - - -0.9978022718973305
    - -0.05011276384504905
    - -0.04335132173689689
    - 0.18384657534316828
  - - 0.06605980742952362
    - -0.7012761329352124
    - -0.7098224335830818
    - 0.0608291076633571
  - - 0.005169916720785737
    - -0.7111262168386459
    - 0.7030453581994943
    - 0.6396249504201826
  - - 0.0
    - 0.0
    - 0.0
    - 1.0
  reproj_error_px: 0.0403
- T_base_tool0:
  - - -0.6145120897154615
    - 0.5585432019414535
    - 0.5571394647290082
    - -0.26997080381036986
  - - 0.7714345085042492
    - 0.573246088634966
    - 0.2761842156125517
    - -0.7203340716717429
  - - -0.1651172028661591
    - 0.5995151486240375
    - -0.7831461523163821
    - 0.12588314404984635
  - - 0.0
    - 0.0
    - 0.0
    - 1.0
  T_optical_target:
  - - 0.6125932298120437
    - 0.7761748185639866
    - -0.14927218701288936
    - -0.14053985963555263
  - - -0.5545814561927188
    - 0.5566550060483746
    - 0.6185261616847323
    - -0.05325410366859759
  - - 0.5631775414872402
    - -0.2961213522670164
    - 0.7714552491855515
    - 0.5213679239505101
  - - 0.0
    - 0.0
    - 0.0
    - 1.0
  reproj_error_px: 0.0362
- T_base_tool0:
  - - 0.9864671526697261
    - -0.15737238258421302
    - 0.04600532472933745
    - -0.08424244517018384
  - - -0.1188507279050148
    - -0.8796364621047098
    - -0.46055857283559265
    - -0.040977903561594364
  - - 0.11294716100961473
    - 0.44885813765117133
    - -0.8864362983791844
    - 0.27516238749272626
  - - 0.0
    - 0.0
    - 0.0
    - 1.0
  T_optical_target:
  - - -0.9823625948544173
    - -0.12506264724927713
    - 0.13900743323253875
    - 0.07196436529204958
  - - 0.17263855212767926
    - -0.8922058226798889
    - 0.41733044496581045
    - -0.014542676025007693
  - - 0.07183079110071397
    - 0.4339678608366127
    - 0.8980602614584061
    - 0.6149575858299549
  - - 0.0
    - 0.0
    - 0.0
    - 1.0
  reproj_error_px: 0.0267
- T_base_tool0:
  - - 0.47005721733965317
    - -0.8025598135671251
    - -0.36734719009950634
    - 0.3241956291558459
  - - -0.8799987392301442
    - -0.3939858189556444
    - -0.2652873789218145
    - -0.42775091568059054
  - - 0.06817940583679397
    - 0.4479653112786201
    - -0.8914475018254245
    - 0.174736906929579
  - - 0.0
    - 0.0
    - 0.0
    - 1.0
  T_optical_target:
  - - -0.46231246248166946
    - -0.8827179773496223
    - 0.08411991142367232
    - 0.33877553115501524
  - - 0.8220091995709007
    - -0.3910675982113268
    - 0.4139649857778205
    - -0.09721331012365307
  - - -0.33251776321715787
    - 0.26052851301348134
    - 0.9063977223338779
    - 0.5108570489035641
  - - 0.0
    - 0.0
    - 0.0
    - 1.0
  reproj_error_px: 0.035
- T_base_tool0:
  - - -0.5877451492621051
    - -0.6555108709026587
    - -0.4741952526621323
    - 0.29896167736603546
  - - -0.8079635030596488
    - 0.445258228379001
    - 0.385927568054388
    - -0.7030318443156683
  - - -0.04184037813460323
    - 0.6099595135656392
    - -0.7913272234469899
    - 0.14179356526938658
  - - 0.0
    - 0.0
    - 0.0
    - 1.0
  T_optical_target:
  - - 0.5909289919297387
    - -0.8062253193468562
    - -0.028348914281897952
    - 0.09551657395473233
  - - 0.6639082641800876
    - 0.4660526878708749
    - 0.5848253661407956
    - -0.1933738764922563
  - - -0.45828892987970554
    - -0.36441134254080565
    - 0.8106636973352894
    - 0.6555231044891757
  - - 0.0
    - 0.0
    - 0.0
    - 1.0
  reproj_error_px: 0.0334
- T_base_tool0:
  - - 0.9859119557233527
    - 0.06775146730335883
    - -0.15292924586224665
    - 0.002099327842927712
  - - 0.16673489731571473
    - -0.47082260865519016
    - 0.8663287743092916
    - -0.5250782210827563
  - - -0.013307500849959034
    - -0.8796225382841001
    - -0.4754861728418239
    - 0.29482802618436565
  - - 0.0
    - 0.0
    - 0.0
    - 1.0
  T_optical_target:
  - - -0.9869478213244566
    - 0.15974249015615347
    - -0.02040428439371733
    - 0.13415488201101763
  - - -0.054071157522783984
    - -0.44805586680687803
    - -0.8923688980147636
    - -0.0150217525742451
  - - -0.15169148923738196
    - -0.8796182564377847
    - 0.4508452229250044
    - 0.5243958321420139
  - - 0.0
    - 0.0
    - 0.0
    - 1.0
  reproj_error_px: 0.0804
- T_base_tool0:
  - - 0.6305112670162943
    - -0.6978483272175134
    - 0.3397988439727621
    - -0.17297622710043628
  - - -0.7757530184123321
    - -0.5520477375356142
    - 0.30569682678425963
    - -0.5672082433887333
  - - -0.025744836174717067
    - -0.4563452724434955
    - -0.8894302646800417
    - 0.327136569546824
  - - 0.0
    - 0.0
    - 0.0
    - 1.0
  T_optical_target:
  - - -0.6198650009784588
    - -0.7842939469514086
    - -0.025502653535588143
    - 0.1773583755759872
  - - 0.6925375730899542
    - -0.531485019402593
    - -0.48776570606111874
    - 0.17212732768148076
  - - 0.3689974124850358
    - -0.3200104356517241
    - 0.8726019886828941
    - 0.6071239385812767
  - - 0.0
    - 0.0
    - 0.0
    - 1.0
  reproj_error_px: 0.0352
- T_base_tool0:
  - - 0.47739196009143897
    - -0.7121347429464545
    - -0.5147436491387157
    - 0.3462743203024655
  - - -0.870779732744693
    - -0.46184881883375567
    - -0.16863666737381264
    - -0.3216859894734776
  - - -0.11764171658529621
    - 0.5287341264099112
    - -0.8405954140300868
    - 0.08925485368282005
  - - 0.0
    - 0.0
    - 0.0
    - 1.0
  T_optical_target:
  - - -0.47460756081048494
    - -0.8746559112017247
    - -0.09861389466704357
    - 0.23462725688532926
  - - 0.7348597673633626
    - -0.4554140988565144
    - 0.5025725031011682
    - -0.14986150828279884
  - - -0.48448816861940663
    - 0.1660573261334466
    - 0.8588924140456848
    - 0.5296521456277309
  - - 0.0
    - 0.0
    - 0.0
    - 1.0
  reproj_error_px: 0.0423
- T_base_tool0:
  - - -0.996472126821873
    - -0.05788965380869059
    - -0.0607625579530936
    - -0.004463521212311389
  - - -0.07025303192110025
    - 0.9714537490627577
    - 0.22658800704760484
    - -0.7728366448193382
  - - 0.04591091344098887
    - 0.23005738721854274
    - -0.9720935071345718
    - 0.2424823160027052
  - - 0.0
    - 0.0
    - 0.0
    - 1.0
  T_optical_target:
  - - 0.9967081546164339
    - -0.06134666392409943
    - 0.05300416348256533
    - -0.00196561142318863
  - - 0.04924651868557711
    - 0.9774666161387604
    - 0.20526518148870848
    - -0.20647708522704286
  - - -0.06440213442467585
    - -0.2019792097212605
    - 0.97727005680207
    - 0.5528242441586825
  - - 0.0
    - 0.0
    - 0.0
    - 1.0
  reproj_error_px: 0.0318
- T_base_tool0:
  - - -0.24696004649847444
    - -0.7343761050993456
    - 0.6322202714976694
    - -0.12533755570445462
  - - -0.935604243000949
    - 0.3505732013459705
    - 0.041750820071696115
    - -0.5648720792750135
  - - -0.2523002891637123
    - -0.5811971840581758
    - -0.7736629739949784
    - 0.4880621846509887
  - - 0.0
    - 0.0
    - 0.0
    - 1.0
  T_optical_target:
  - - 0.2563015691407521
    - -0.9302788023458376
    - -0.26247067562297743
    - 0.13647748113796787
  - - 0.7100232550044004
    - 0.36544747949315004
    - -0.6019261724539477
    - -0.19081257776614022
  - - 0.6558784056583539
    - -0.032085660942196836
    - 0.754184345735814
    - 0.6210430031246886
  - - 0.0
    - 0.0
    - 0.0
    - 1.0
  reproj_error_px: 0.0299
- T_base_tool0:
  - - 0.38998714766140224
    - -0.9095821395034426
    - -0.14342369453916576
    - 0.0380204163175579
  - - -0.9165394838753677
    - -0.3984380458970313
    - 0.034677054073697575
    - -0.5019462653301199
  - - -0.08868708562354832
    - 0.11792987356092384
    - -0.989053661721904
    - 0.6336869250866586
  - - 0.0
    - 0.0
    - 0.0
    - 1.0
  T_optical_target:
  - - -0.38093336659156596
    - -0.9206609700271627
    - -0.08528275608738052
    - 0.20020296797048803
  - - 0.9173527503905071
    - -0.38786327874567894
    - 0.08958799222900263
    - 0.14699162260982537
  - - -0.11555821722485889
    - -0.04410731537166823
    - 0.9923209375814446
    - 0.8872397726892959
  - - 0.0
    - 0.0
    - 0.0
    - 1.0
  reproj_error_px: 0.0332
- T_base_tool0:
  - - 0.7323707679950586
    - -0.6702157967837491
    - -0.12018254418946334
    - 0.13821918396318375
  - - -0.640344639571096
    - -0.6179213295642965
    - -0.4562148321153702
    - -0.3695158348381695
  - - 0.2314990297147942
    - 0.4110766549088096
    - -0.8817166115198762
    - 0.3527365520454966
  - - 0.0
    - 0.0
    - 0.0
    - 1.0
  T_optical_target:
  - - -0.7233103149763034
    - -0.6442564942527632
    - 0.24850705797224387
    - 0.33417453744797093
  - - 0.6850867558411172
    - -0.6244642348154793
    - 0.37510072834828195
    - 0.13603012610673795
  - - -0.0864773104344389
    - 0.44156312011926163
    - 0.8930530139530178
    - 0.5605913868956741
  - - 0.0
    - 0.0
    - 0.0
    - 1.0
  reproj_error_px: 0.0174
- T_base_tool0:
  - - 0.4580724762099888
    - 0.6592762213330194
    - 0.5962587278385991
    - -0.22434697937282713
  - - 0.8885184324593516
    - -0.359614645164376
    - -0.28497772222276657
    - -0.3410095899307495
  - - 0.02654433496672365
    - 0.6603273210826244
    - -0.7505086457283612
    - 0.19885018144463262
  - - 0.0
    - 0.0
    - 0.0
    - 1.0
  T_optical_target:
  - - -0.45864990065082867
    - 0.887151801515182
    - 0.051009309947813275
    - 0.029571170555614663
  - - -0.6639984102096073
    - -0.38029863936678615
    - 0.6438004785140233
    - 0.19866074401096548
  - - 0.5905475254982441
    - 0.26140892479817557
    - 0.7634913189838918
    - 0.4538406052269597
  - - 0.0
    - 0.0
    - 0.0
    - 1.0
  reproj_error_px: 0.0282
- T_base_tool0:
  - - 0.15716317066470836
    - 0.8793378001092954
    - 0.4495161521965152
    - -0.31821977849955385
  - - 0.9832118750383182
    - -0.09659305572255711
    - -0.15480371562018058
    - -0.4533861291368224
  - - -0.09270462000488713
    - 0.46629906163869106
    - -0.87975623813908
    - 0.22067345799462856
  - - 0.0
    - 0.0
    - 0.0
    - 1.0
  T_optical_target:
  - - -0.16407019017448218
    - 0.983631248943384
    - -0.0745019382176588
    - -0.08738744912701163
  - - -0.8855973994462123
    - -0.11360819889921356
    - 0.45034478262436073
    - 0.07587650232477314
  - - 0.434509169972528
    - 0.13986687686852575
    - 0.8897409948770653
    - 0.5012214775696949
  - - 0.0
    - 0.0
    - 0.0
    - 1.0
  reproj_error_px: 0.0245
- T_base_tool0:
  - - -0.43678364690517163
    - 0.699720163456792
    - 0.5653421429968042
    - -0.407886370782478
  - - 0.8986632164914425
    - 0.3675651450697544
    - 0.2393747845014289
    - -0.6310869021202442
  - - -0.04030470346589199
    - 0.6126071799953466
    - -0.7893592172747942
    - 0.20615630448744882
  - - 0.0
    - 0.0
    - 0.0
    - 1.0
  T_optical_target:
  - - 0.43504360987579516
    - 0.9001139095504845
    - -0.023065284303018185
    - -0.06059627931390632
  - - -0.7163077099985761
    - 0.3615002805531725
    - 0.5968423675951411
    - -0.042318510217365574
  - - 0.5455642236280096
    - -0.2431306171458454
    - 0.8020269203109378
    - 0.6264834606122436
  - - 0.0
    - 0.0
    - 0.0
    - 1.0
  reproj_error_px: 0.0417
- T_base_tool0:
  - - 0.9757283617959972
    - 0.2181036099812439
    - 0.019620889379674024
    - 0.014513844386260882
  - - 0.2180147324376166
    - -0.9759232543610808
    - 0.006586200530800475
    - -0.2684476831911504
  - - 0.02058495632869821
    - -0.002148699706080169
    - -0.9997857983900947
    - 0.4507102457789596
  - - 0.0
    - 0.0
    - 0.0
    - 1.0
  T_optical_target:
  - - -0.9778908707983229
    - 0.20611105376560274
    - 0.03532249035572594
    - 0.21169088092994853
  - - -0.20723434775224508
    - -0.9777752394915011
    - -0.031772726496777814
    - 0.08274619364088968
  - - 0.02798874632774901
    - -0.03839029243142485
    - 0.9988707701830254
    - 0.674660373646022
  - - 0.0
    - 0.0
    - 0.0
    - 1.0
  reproj_error_px: 0.0234
- T_base_tool0:
  - - -0.5875729499716291
    - 0.6298887440521868
    - 0.507935230691863
    - -0.23205605630288215
  - - 0.7770515337757598
    - 0.6143362723832566
    - 0.13704692003465244
    - -0.725387906681484
  - - -0.22571872389852093
    - 0.4752169131571432
    - -0.8504233905126433
    - 0.3630732208895666
  - - 0.0
    - 0.0
    - 0.0
    - 1.0
  T_optical_target:
  - - 0.5848928858105418
    - 0.7834417732805792
    - -0.21004594737151677
    - -0.23389181919395097
  - - -0.6478898859601185
    - 0.6070579566458404
    - 0.460129691438796
    - 0.0178181048226226
  - - 0.4879948850129488
    - -0.13303993818383442
    - 0.862647881263984
    - 0.6551168253934719
  - - 0.0
    - 0.0
    - 0.0
    - 1.0
  reproj_error_px: 0.0241
- T_base_tool0:
  - - 0.8938645783685326
    - 0.4479182264809507
    - 0.019374672234791876
    - -0.17713880032698984
  - - 0.4433728690332479
    - -0.8767285297020553
    - -0.1864606773872145
    - -0.1537067767058512
  - - -0.0665328080218495
    - 0.1752607987903519
    - -0.9822713667129344
    - 0.46224435082665716
  - - 0.0
    - 0.0
    - 0.0
    - 1.0
  T_optical_target:
  - - -0.903067495472782
    - 0.4270602380590445
    - -0.04570176899715418
    - 0.05458183014035891
  - - -0.4288385137946188
    - -0.8906629331257124
    - 0.15105319805394815
    - 0.012013262907967908
  - - 0.023803943096459987
    - 0.15600991194425765
    - 0.987468622118296
    - 0.7206891628202882
  - - 0.0
    - 0.0
    - 0.0
    - 1.0
  reproj_error_px: 0.0262
- T_base_tool0:
  - - 0.8599326758016863
    - -0.47368566715887794
    - 0.19009913681234997
    - -0.10469213229325877
  - - -0.5053934290588827
    - -0.8423008698849603
    - 0.18736789067271586
    - -0.5376365452543364
  - - 0.07136718400396537
    - -0.2571986262002336
    - -0.9637196644917321
    - 0.38029537399658997
  - - 0.0
    - 0.0
    - 0.0
    - 1.0
  T_optical_target:
  - - -0.848104627013868
    - -0.52428980907682
    - 0.0764116335112638
    - 0.18459294082819105
  - - 0.48354548901802086
    - -0.824876706997313
    - -0.2928518026299177
    - 0.20781014591409572
  - - 0.21656939231569894
    - -0.2114204681469154
    - 0.9530997240375997
    - 0.6295018978374621
  - - 0.0
    - 0.0
    - 0.0
    - 1.0
  reproj_error_px: 0.022
- T_base_tool0:
  - - 0.8426440286508832
    - 0.33605903829903894
    - -0.420731938122761
    - -0.0023798146824018096
  - - 0.5071641051468557
    - -0.7578546901752854
    - 0.410415446870499
    - -0.46056405319552307
  - - -0.18092985223450211
    - -0.5592142624762421
    - -0.8090388106967144
    - 0.3056826330638047
  - - 0.0
    - 0.0
    - 0.0
    - 1.0
  T_optical_target:
  - - -0.8520941351324823
    - 0.4894446993542516
    - -0.18541701957170278
    - 0.041075450939701864
  - - -0.3088691073204637
    - -0.7562357214656233
    - -0.5768079473467993
    - 0.09913457346966228
  - - -0.4225345659421095
    - -0.43422507971488056
    - 0.7955583704108193
    - 0.5567103077239302
  - - 0.0
    - 0.0
    - 0.0
    - 1.0
  reproj_error_px: 0.0333
- T_base_tool0:
  - - 0.9775633450091925
    - 0.13394011420352286
    - -0.16257291380050395
    - -0.08658411855685824
  - - 0.20584616649456244
    - -0.7711974899204943
    - 0.6023967025804692
    - -0.5481045284728303
  - - -0.044690739912555906
    - -0.6223459466787556
    - -0.7814654569580104
    - 0.49574318931327643
  - - 0.0
    - 0.0
    - 0.0
    - 1.0
  T_optical_target:
  - - -0.9807754592533381
    - 0.18785734979267654
    - -0.05281206921978902
    - 0.013728958031942379
  - - -0.11029756282793324
    - -0.7569284949590867
    - -0.6441224271465714
    - -0.0076795231636754046
  - - -0.1609780921759913
    - -0.6259144267772104
    - 0.763097100106883
    - 0.7328633325004973
  - - 0.0
    - 0.0
    - 0.0
    - 1.0
  reproj_error_px: 0.0273
- T_base_tool0:
  - - 0.8976716850781429
    - -0.37262004344249117
    - 0.23524423273245923
    - -0.27904542106308217
  - - -0.43754004489784054
    - -0.6902138490644595
    - 0.5763363181948706
    - -0.4640832764870694
  - - -0.052385636578771905
    - -0.6202895660774406
    - -0.7826216194916272
    - 0.47751292405087153
  - - 0.0
    - 0.0
    - 0.0
    - 1.0
  T_optical_target:
  - - -0.8892089731078454
    - -0.4535642409694315
    - -0.05989057904474297
    - -0.08145209607168777
  - - 0.3816287657280504
    - -0.6631596466486371
    - -0.6438779140689169
    - -0.0004640568282230328
  - - 0.2523229821347551
    - -0.5953979865356266
    - 0.7627806698625403
    - 0.7057733720346502
  - - 0.0
    - 0.0
    - 0.0
    - 1.0
  reproj_error_px: 0.033
- T_base_tool0:
  - - -0.4932347016776935
    - -0.7368762185421804
    - 0.46231262973002735
    - -0.14333725899556168
  - - -0.8522539089547867
    - 0.3028467018171041
    - -0.4265526343486677
    - -0.2892222337894321
  - - 0.1743066370859208
    - -0.6043983071993821
    - -0.7773801402932277
    - 0.34018283722979326
  - - 0.0
    - 0.0
    - 0.0
    - 1.0
  T_optical_target:
  - - 0.5116691687597181
    - -0.8448372916363995
    - 0.15634772912073858
    - 0.07938180004801544
  - - 0.7054015278130223
    - 0.3091844971309145
    - -0.6378194347093519
    - 0.0031504590682201986
  - - 0.49051334976715233
    - 0.4366404669683931
    - 0.7541496909140988
    - 0.5364138283660523
  - - 0.0
    - 0.0
    - 0.0
    - 1.0
  reproj_error_px: 0.0363
- T_base_tool0:
  - - 0.7633817262985743
    - -0.5134575520261957
    - 0.39193071099452736
    - -0.1688050552784868
  - - -0.4820228977309669
    - -0.8567245965601624
    - -0.18351264728042405
    - -0.2702885263580298
  - - 0.4300026348947772
    - -0.048829375544788736
    - -0.9015061985740616
    - 0.34921326934194186
  - - 0.0
    - 0.0
    - 0.0
    - 1.0
  T_optical_target:
  - - -0.7449502709626193
    - -0.5000465711993216
    - 0.4415908971259732
    - 0.11607500278884843
  - - 0.5160634447441046
    - -0.8514263089715968
    - -0.09355084922036513
    - 0.09370564465030298
  - - 0.42276188900085176
    - 0.1581981890629751
    - 0.892326015638694
    - 0.5829304560239744
  - - 0.0
    - 0.0
    - 0.0
    - 1.0
  reproj_error_px: 0.0206
- T_base_tool0:
  - - 0.5574536263317964
    - 0.7441430787611686
    - -0.3680985368367811
    - -0.019875574287637726
  - - 0.8235406111524429
    - -0.4395716951065044
    - 0.35854928063497116
    - -0.39151328734404967
  - - 0.10500626777574179
    - -0.5030186906995043
    - -0.857872881337769
    - 0.21302999990146199
  - - 0.0
    - 0.0
    - 0.0
    - 1.0
  T_optical_target:
  - - -0.5741649500472499
    - 0.8125987798300486
    - 0.10008912606250131
    - 0.10440645113417608
  - - -0.7233536146956566
    - -0.4462024931869788
    - -0.5269372668358651
    - 0.129770125038546
  - - -0.3835285624878108
    - -0.37494874061988837
    - 0.8439900968990056
    - 0.44702535929546455
  - - 0.0
    - 0.0
    - 0.0
    - 1.0
  reproj_error_px: 0.0426
joint_states:
- ur15_shoulder_lift_joint: -1.2990521651557465
  ur15_wrist_3_joint: 4.782498836517334
  ur15_shoulder_pan_joint: 5.4568939208984375
  ur15_wrist_1_joint: -1.2374299329570313
  ur15_elbow_joint: -2.237732172012329
  ur15_wrist_2_joint: 1.3703935146331787
- ur15_shoulder_lift_joint: -0.5649512571147461
  ur15_wrist_3_joint: 3.700761318206787
  ur15_shoulder_pan_joint: 5.280160903930664
  ur15_wrist_1_joint: -1.738800664941305
  ur15_elbow_joint: -2.355682611465454
  ur15_wrist_2_joint: 1.6167652606964111
- ur15_shoulder_lift_joint: -1.2112856966308136
  ur15_wrist_3_joint: 1.3497912883758545
  ur15_shoulder_pan_joint: 3.492682695388794
  ur15_wrist_1_joint: -1.529394381945469
  ur15_elbow_joint: -2.2155442237854004
  ur15_wrist_2_joint: 1.9710959196090698
- ur15_shoulder_lift_joint: -1.9949513874449671
  ur15_wrist_3_joint: 0.5623058676719666
  ur15_shoulder_pan_joint: 3.890779733657837
  ur15_wrist_1_joint: -1.515954003935196
  ur15_elbow_joint: -1.7312724590301514
  ur15_wrist_2_joint: 2.100066661834717
- ur15_shoulder_lift_joint: -1.5949183903136195
  ur15_wrist_3_joint: 3.9315755367279053
  ur15_shoulder_pan_joint: 4.27689266204834
  ur15_wrist_1_joint: -1.6519481144347132
  ur15_elbow_joint: -1.824734091758728
  ur15_wrist_2_joint: 2.1252949237823486
- ur15_shoulder_lift_joint: -1.9644233189024867
  ur15_wrist_3_joint: 3.3586277961730957
  ur15_shoulder_pan_joint: 4.953751564025879
  ur15_wrist_1_joint: -2.245490690270895
  ur15_elbow_joint: -1.2891643047332764
  ur15_wrist_2_joint: 1.7420237064361572
- ur15_shoulder_lift_joint: -2.190669675866598
  ur15_wrist_3_joint: 0.36209970712661743
  ur15_shoulder_pan_joint: 4.361961841583252
  ur15_wrist_1_joint: -1.6548100910582484
  ur15_elbow_joint: -1.3936246633529663
  ur15_wrist_2_joint: 2.018056631088257
- {}
- ur15_shoulder_lift_joint: -1.5327302900007744
  ur15_wrist_3_joint: 5.6086106300354
  ur15_shoulder_pan_joint: 6.032548427581787
  ur15_wrist_1_joint: -1.3286269468120118
  ur15_elbow_joint: -2.163994789123535
  ur15_wrist_2_joint: 1.215667724609375
- {}
- ur15_shoulder_lift_joint: -2.0900284252562464
  ur15_wrist_3_joint: 3.200587034225464
  ur15_shoulder_pan_joint: 4.998704433441162
  ur15_wrist_1_joint: -2.3170443973936976
  ur15_elbow_joint: -1.3795181512832642
  ur15_wrist_2_joint: 1.6680353879928589
- ur15_shoulder_lift_joint: -1.7425877056517542
  ur15_wrist_3_joint: 3.792543649673462
  ur15_shoulder_pan_joint: 4.53328800201416
  ur15_wrist_1_joint: -1.760414262811178
  ur15_elbow_joint: -1.5983351469039917
  ur15_wrist_2_joint: 1.8565609455108643
- ur15_shoulder_lift_joint: -1.415066660647728
  ur15_wrist_3_joint: 5.110133171081543
  ur15_shoulder_pan_joint: 2.431628942489624
  ur15_wrist_1_joint: -2.050666948358053
  ur15_elbow_joint: 2.214163605366842
  ur15_wrist_2_joint: 4.23279333114624
- ur15_shoulder_lift_joint: -1.2235453587821503
  ur15_wrist_3_joint: 6.040265083312988
  ur15_shoulder_pan_joint: 1.3903650045394897
  ur15_wrist_1_joint: -1.6384192905821742
  ur15_elbow_joint: 1.5056975523578089
  ur15_wrist_2_joint: 4.616341590881348
- ur15_shoulder_lift_joint: -1.495419943039753
  ur15_wrist_3_joint: 4.078990459442139
  ur15_shoulder_pan_joint: 0.7233380079269409
  ur15_wrist_1_joint: -0.9401226800731202
  ur15_elbow_joint: 1.4445374647723597
  ur15_wrist_2_joint: 5.108074188232422
- ur15_shoulder_lift_joint: -1.7558242283263148
  ur15_wrist_3_joint: 4.142277240753174
  ur15_shoulder_pan_joint: 1.4172172546386719
  ur15_wrist_1_joint: -1.16432540238414
  ur15_elbow_joint: 1.360971752797262
  ur15_wrist_2_joint: 4.56584358215332
- ur15_shoulder_lift_joint: -2.3411385021605433
  ur15_wrist_3_joint: 3.9293899536132812
  ur15_shoulder_pan_joint: 1.630157470703125
  ur15_wrist_1_joint: -2.080008646050924
  ur15_elbow_joint: 2.379629437123434
  ur15_wrist_2_joint: 4.565983295440674
- ur15_shoulder_lift_joint: -1.6621996364989222
  ur15_wrist_3_joint: 0.4499383270740509
  ur15_shoulder_pan_joint: 0.0877578854560852
  ur15_wrist_1_joint: -1.455822580759861
  ur15_elbow_joint: 2.199045006428854
  ur15_wrist_2_joint: 5.052922248840332
- ur15_shoulder_lift_joint: -1.5394926120391865
  ur15_wrist_3_joint: 0.43541112542152405
  ur15_shoulder_pan_joint: 0.37094688415527344
  ur15_wrist_1_joint: -1.6166674099364222
  ur15_elbow_joint: 1.979755703602926
  ur15_wrist_2_joint: 5.025252342224121
- ur15_shoulder_lift_joint: -0.9934342068484803
  ur15_wrist_3_joint: 0.13503597676753998
  ur15_shoulder_pan_joint: 0.6651803851127625
  ur15_wrist_1_joint: -1.1946010154536744
  ur15_elbow_joint: 1.263409439717428
  ur15_wrist_2_joint: 4.875905513763428
- ur15_shoulder_lift_joint: -2.2789160213866175
  ur15_wrist_3_joint: 2.225508689880371
  ur15_shoulder_pan_joint: 0.8825604915618896
  ur15_wrist_1_joint: -1.2270299953273316
  ur15_elbow_joint: 1.9534090201007288
  ur15_wrist_2_joint: 4.720688343048096
- ur15_shoulder_lift_joint: -1.1802672308734437
  ur15_wrist_3_joint: 0.06493131816387177
  ur15_shoulder_pan_joint: 0.8549714684486389
  ur15_wrist_1_joint: -1.1523603361896058
  ur15_elbow_joint: 1.2399452368365687
  ur15_wrist_2_joint: 5.012032508850098
- ur15_shoulder_lift_joint: -1.0976705116084595
  ur15_wrist_3_joint: -0.4705999533282679
  ur15_shoulder_pan_joint: -1.5709403196917933
  ur15_wrist_1_joint: 1.5480374532886962
  ur15_elbow_joint: -1.8330246210098267
  ur15_wrist_2_joint: -1.5915630499469202
- ur15_shoulder_lift_joint: -1.9480449161925257
  ur15_wrist_3_joint: 0.49729323387145996
  ur15_shoulder_pan_joint: -1.5705001989947718
  ur15_wrist_1_joint: 1.494750900859497
  ur15_elbow_joint: -1.3100895881652832
  ur15_wrist_2_joint: -1.767346207295553
- ur15_shoulder_lift_joint: -2.0223733387389125
  ur15_wrist_3_joint: 0.10883855819702148
  ur15_shoulder_pan_joint: -1.0149334112750452
  ur15_wrist_1_joint: 1.4261011320301513
  ur15_elbow_joint: -1.5871638059616089
  ur15_wrist_2_joint: -1.4319284597979944
- ur15_shoulder_lift_joint: -2.1840363941588343
  ur15_wrist_3_joint: 0.020576119422912598
  ur15_shoulder_pan_joint: -1.3612425963031214
  ur15_wrist_1_joint: 0.9147061544605712
  ur15_elbow_joint: -0.9736045598983765
  ur15_wrist_2_joint: -1.5402010122882288
- {}
- {}
- {}
- ur15_shoulder_lift_joint: -1.946038385430807
  ur15_wrist_3_joint: -0.39775306383241826
  ur15_shoulder_pan_joint: -0.9881680647479456
  ur15_wrist_1_joint: 1.6984788614460449
  ur15_elbow_joint: -1.851317048072815
  ur15_wrist_2_joint: -1.4626782576190394