From 106ef2abf81889bde993dd8ddd4841fc615fbc8e Mon Sep 17 00:00:00 2001 From: Kazadhum Date: Fri, 3 May 2024 14:34:37 +0100 Subject: [PATCH] corrected the descriptive text #939 --- atom_evaluation/scripts/other_calibrations/rwhe_calib_ali.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/atom_evaluation/scripts/other_calibrations/rwhe_calib_ali.py b/atom_evaluation/scripts/other_calibrations/rwhe_calib_ali.py index 0af46eb9..e6646f5a 100755 --- a/atom_evaluation/scripts/other_calibrations/rwhe_calib_ali.py +++ b/atom_evaluation/scripts/other_calibrations/rwhe_calib_ali.py @@ -5,7 +5,7 @@ This method solves the Robot-World/Hand-Eye calibration problem, with the formulation: AX = ZB, where: -A is the transformation from the camera/sensor to the base; +A is the transformation from the gripper/flange/end-effector to the base; B is the transformation from the camera to the pattern/target (in the paper, this is called "world". However, to be coherent with ATOM, we call it "pattern"); X is the transformation from the base of the robot to the pattern; @@ -41,7 +41,7 @@ def main(): # GET A and B matrices to solve AX=ZB # ######################################## - + # A is the transform from the if __name__ == '__main__':