cal.py

# [x, y, z, qx, qy, qz, qw]

# Postion arm for calibration
calib_target_ = []

calib_target_.append([0.0145586, -0.77293, 1.03228, 0.689509, 0.619697, 0.285724, -0.242725])
calib_target_.append([0.0146573, -0.773567, 1.03227, 0.346248, 0.859973, 0.362561, -0.0954361])
calib_target_.append([0.0146573, -0.773567, 1.03227, 0.896974, 0.234261, 0.139355, -0.34805])
calib_target_.append([0.209859, -0.773575, 1.03227, 0.69721, 0.611018, 0.280419, -0.248838])
calib_target_.append([0.20973, -0.772715, 1.03227, 0.380418, 0.845419, 0.359737, -0.105532])
calib_target_.append([0.20973, -0.772715, 1.03227, 0.834934, 0.40291, 0.207669, -0.312124])
calib_target_.append([-0.215881, -0.772703, 1.03228, 0.674395, 0.636114, 0.292181, -0.234906])
calib_target_.append([-0.215881, -0.772703, 1.03228, 0.880703, 0.289503, 0.164766, -0.336753])
calib_target_.append([-0.215881, -0.772703, 1.03228, 0.376818, 0.847029, 0.360182, -0.104016])
calib_target_.append([-0.17029, -0.772694, 1.23309, 0.69566, 0.612784, 0.284011, -0.244724])
calib_target_.append([-0.17029, -0.772694, 1.23309, 0.405437, 0.833708, 0.356432, -0.116226])
calib_target_.append([-0.17029, -0.772694, 1.23309, 0.895368, 0.240343, 0.14588, -0.345356])
calib_target_.append([0.165697, -0.772704, 1.23308, 0.687792, 0.621605, 0.287111, -0.241076])
calib_target_.append([0.165697, -0.772704, 1.23308, 0.879465, 0.293242, 0.166195, -0.33605])
calib_target_.append([0.165697, -0.772704, 1.23308, 0.333072, 0.865167, 0.365024, -0.0854866])
calib_target_.append([0.167664, -0.783879, 0.867456, 0.667045, 0.643813, 0.256719, -0.273223])
calib_target_.append([0.16767, -0.783877, 0.906649, 0.228917, 0.898355, 0.362026, -0.0974342])
calib_target_.append([0.16767, -0.783877, 0.906649, 0.869367, 0.321939, 0.125471, -0.353289])
calib_target_.append([-0.20433, -0.783869, 0.906659, 0.6187, 0.690399, 0.275825, -0.253929])
calib_target_.append([-0.20433, -0.783869, 0.906659, 0.853333, 0.362302, 0.141879, -0.34703])
calib_target_.append([-0.20433, -0.783869, 0.906659, 0.31194, 0.873003, 0.351328, -0.130873])
calib_target_.append([0.0272434, -0.439481, 1.41121, 0.833403, 0.41252, 0.161028, -0.330662])
calib_target_.append([0.0272434, -0.439481, 1.41121, 0.833403, 0.41252, 0.161028, -0.330662])
calib_target_.append([0.0272434, -0.439481, 1.41121, 0.423154, 0.828054, 0.326417, -0.169468])
calib_target_.append([-0.125651, -0.990149, 0.943616, 0.459644, 0.780383, 0.422768, -0.0315672])
calib_target_.append([-0.125651, -0.990149, 0.943616, 0.870284, 0.250753, 0.285325, -0.313558])
calib_target_.append([0.0679399, -0.990153, 0.943615, 0.870282, 0.250763, 0.285327, -0.313553])

# Postion arm for hand-eye calibration
he_target_ = []
he_target_.append([0.0145586, -0.77293, 1.03228, 0.689509, 0.619697, 0.285724, -0.242725])