Update JCA transform to include y rotation

andchiind · Feb 21, 2024 · e896f1c · e896f1c
1 parent 84444c5
commit e896f1c
Showing 1 changed file with 18 additions and 18 deletions.
diff --git a/src/isar_exr/config/maps/exr_jca_ap.json b/src/isar_exr/config/maps/exr_jca_ap.json
@@ -5,25 +5,25 @@
     "reference_positions": {
       "positions": [
         {
-          "x": 0.11907593905116448,
-          "y": 0.8190074941458545,
-          "z": -0.176361,
+          "x": 44.8911,
+          "y": -13.3617,
+          "z": -3.8796,
           "frame": {
             "name": "robot"
           }
         },
         {
-          "x": 4.8833662578143295,
-          "y": -18.191902104254204,
-          "z": -0.12536099999999806,
+          "x": 70.7716,
+          "y": 65.8346,
+          "z": -6.0959,
           "frame": {
             "name": "robot"
           }
         },
         {
-          "x": 26.66857454840731,
-          "y": -10.294643102836075,
-          "z": 1.489639000000004,
+          "x": 6.0201,
+          "y": -3.88758,
+          "z": 2.02803,
           "frame": {
             "name": "robot"
           }
@@ -42,25 +42,25 @@
     "reference_positions": {
       "positions": [
         {
-          "x": 247.453,
-          "y": 322.511,
-          "z": 36.001,
+          "x": 235.246,
+          "y": 276.996,
+          "z": 36.052,
           "frame": {
             "name": "asset"
           }
         },
         {
-          "x": 228.668,
-          "y": 316.922,
-          "z": 36.052,
+          "x": 315.5,
+          "y": 254.5,
+          "z": 36.0,
           "frame": {
             "name": "asset"
           }
         },
         {
-          "x": 237.508,
-          "y": 295.502,
-          "z": 37.667,
+          "x": 243.0,
+          "y": 316.6,
+          "z": 38.7,
           "frame": {
             "name": "asset"
           }