├── .gitignore ├── LICENSE ├── README.md ├── calibrate_fk ├── __init__.py ├── model_comparison.py ├── parameter_optimizer.py └── utils.py ├── calibrated_urdf ├── .gitignore ├── fr3 │ ├── consistency.png │ ├── distortion.png │ ├── kpis.yaml │ ├── overlay_front.png │ └── panda.urdf ├── kinova │ ├── consistency.png │ ├── distortion.png │ ├── gen3lite.urdf │ ├── kpis.yaml │ └── overlay_front.png ├── kuka14 │ ├── consistency.png │ ├── distortion.png │ ├── iiwa14.urdf │ ├── kpis.yaml │ └── overlay_front.png ├── panda_2 │ ├── consistency.png │ ├── distortion.png │ ├── kpis.yaml │ ├── overlay_frontcenter.png │ └── panda.urdf ├── panda_2_bis │ ├── bar_plot_statistics_train_one_vs_many_or_many_vs_one.png │ └── panda.urdf └── panda_3 │ ├── consistency.png │ ├── distortion.png │ ├── kpis.yaml │ ├── overlay_front.png │ └── panda.urdf ├── comparisons └── panda_1 │ └── ablation_study_boxplot.pdf ├── config_optimizer ├── gen3lite.yaml ├── iiwa14.yaml ├── panda.yaml └── panda_plus_bota.yaml ├── data ├── README.md ├── fr3 │ ├── front │ │ ├── hole_0.csv │ │ ├── hole_0_pose.csv │ │ ├── hole_1.csv │ │ └── hole_1_pose.csv │ ├── right │ │ ├── hole_0.csv │ │ ├── hole_0_pose.csv │ │ ├── hole_1.csv │ │ └── hole_1_pose.csv │ └── very-front │ │ ├── hole_0.csv │ │ ├── hole_0_pose.csv │ │ ├── hole_1.csv │ │ └── hole_1_pose.csv ├── kinova │ ├── front │ │ ├── comments.txt │ │ ├── hole_0.csv │ │ └── hole_1.csv │ ├── front_rotated │ │ ├── comments.txt │ │ ├── hole_0.csv │ │ └── hole_1.csv │ ├── left │ │ ├── comments.txt │ │ ├── hole_0.csv │ │ └── hole_1.csv │ └── right-high │ │ ├── comments.txt │ │ ├── hole_0.csv │ │ └── hole_1.csv ├── kuka14 │ ├── front │ │ ├── hole_0.csv │ │ └── hole_1.csv │ ├── left_back │ │ ├── hole_0.csv │ │ └── hole_1.csv │ └── raised_left │ │ ├── hole_0.csv │ │ └── hole_1.csv ├── panda_1 │ ├── back_left │ │ ├── hole_0.csv │ │ ├── hole_0_pose.csv │ │ ├── hole_1.csv │ │ └── hole_1_pose.csv │ ├── back_right │ │ ├── hole_0.csv │ │ ├── hole_0_pose.csv │ │ ├── hole_1.csv │ │ └── hole_1_pose.csv │ ├── front_center │ │ ├── hole_0.csv │ │ ├── hole_0_pose.csv │ │ ├── hole_1.csv │ │ └── hole_1_pose.csv │ ├── front_left │ │ ├── hole_0.csv │ │ ├── hole_0_pose.csv │ │ ├── hole_1.csv │ │ └── hole_1_pose.csv │ ├── front_right │ │ ├── hole_0.csv │ │ ├── hole_0_pose.csv │ │ ├── hole_1.csv │ │ └── hole_1_pose.csv │ ├── mid-high │ │ ├── hole_0.csv │ │ ├── hole_0_pose.csv │ │ ├── hole_1.csv │ │ └── hole_1_pose.csv │ ├── mid_left │ │ ├── hole_0.csv │ │ ├── hole_0_pose.csv │ │ ├── hole_1.csv │ │ └── hole_1_pose.csv │ └── mid_right │ │ ├── hole_0.csv │ │ ├── hole_0_pose.csv │ │ ├── hole_1.csv │ │ └── hole_1_pose.csv ├── panda_2 │ ├── backcenter │ │ ├── comments.txt │ │ ├── hole_0.csv │ │ ├── hole_0_pose.csv │ │ ├── hole_1.csv │ │ └── hole_1_pose.csv │ ├── backleft │ │ ├── comments.txt │ │ ├── hole_0.csv │ │ ├── hole_0_pose.csv │ │ ├── hole_1.csv │ │ └── hole_1_pose.csv │ ├── backright │ │ ├── comments.txt │ │ ├── hole_0.csv │ │ ├── hole_0_pose.csv │ │ ├── hole_1.csv │ │ └── hole_1_pose.csv │ ├── frontcenter │ │ ├── comments.txt │ │ ├── hole_0.csv │ │ ├── hole_0_pose.csv │ │ ├── hole_1.csv │ │ └── hole_1_pose.csv │ ├── frontleft │ │ ├── comments.txt │ │ ├── hole_0.csv │ │ ├── hole_0_pose.csv │ │ ├── hole_1.csv │ │ └── hole_1_pose.csv │ └── frontright │ │ ├── comments.txt │ │ ├── hole_0.csv │ │ ├── hole_0_pose.csv │ │ ├── hole_1.csv │ │ └── hole_1_pose.csv ├── panda_2_bis │ ├── calibration │ │ ├── hole_0.csv │ │ ├── hole_0_pose.csv │ │ ├── hole_1.csv │ │ └── hole_1_pose.csv │ ├── front │ │ ├── hole_0.csv │ │ ├── hole_0_pose.csv │ │ ├── hole_1.csv │ │ └── hole_1_pose.csv │ ├── left │ │ ├── hole_0.csv │ │ ├── hole_0_pose.csv │ │ ├── hole_1.csv │ │ └── hole_1_pose.csv │ ├── right-high │ │ ├── hole_0.csv │ │ ├── hole_0_pose.csv │ │ ├── hole_1.csv │ │ └── hole_1_pose.csv │ └── world_frame │ │ ├── hole_0.csv │ │ ├── hole_0_pose.csv │ │ ├── hole_1.csv │ │ └── hole_1_pose.csv └── panda_3 │ ├── front │ ├── hole_0.csv │ ├── hole_0_pose.csv │ ├── hole_1.csv │ └── hole_1_pose.csv │ ├── left │ ├── hole_0.csv │ ├── hole_0_pose.csv │ ├── hole_1.csv │ └── hole_1_pose.csv │ └── right │ ├── hole_0.csv │ ├── hole_0_pose.csv │ ├── hole_1.csv │ └── hole_1_pose.csv ├── imgs ├── Calibration_scheme.png ├── bar_plot_panda_2.jpg ├── bar_plot_statistics_kinova.png ├── calibration_curve.png ├── caliper.jpeg ├── consistency.png ├── distortion.png ├── franka_with_bota_sensor.png ├── mucka.gif ├── mukca.png ├── mukca_franka.gif ├── mukca_tool.png ├── overlay.PNG └── overlaynominal.png ├── meshes ├── bota │ └── SensONE.dae ├── iiwa14 │ ├── base_link.dae │ ├── link_0.stl │ ├── link_1.dae │ ├── link_1.stl │ ├── link_2.dae │ ├── link_2.stl │ ├── link_3.dae │ ├── link_3.stl │ ├── link_4.dae │ ├── link_4.stl │ ├── link_5.dae │ ├── link_5.stl │ ├── link_6.dae │ ├── link_6.stl │ ├── link_7.dae │ └── link_7.stl ├── kinova │ ├── arm_link.STL │ ├── base_link.STL │ ├── forearm_link.STL │ ├── gripper_base_link.STL │ ├── left_finger_dist_link.STL │ ├── left_finger_prox_link.STL │ ├── lower_wrist_link.STL │ ├── right_finger_dist_link.STL │ ├── right_finger_prox_link.STL │ ├── shoulder_link.STL │ └── upper_wrist_link.STL └── panda │ ├── base_link.dae │ ├── finger.dae │ ├── hand.dae │ ├── link0.dae │ ├── link1.dae │ ├── link2.dae │ ├── link3.dae │ ├── link4.dae │ ├── link5.dae │ ├── link6.dae │ └── link7.dae ├── paper_reproducibility.md ├── poetry.lock ├── pyproject.toml ├── ros2_ws ├── .gitignore └── src │ └── calibration_tools │ ├── CMakeLists.txt │ ├── README.md │ ├── calibration_tools │ ├── __init__.py │ ├── joint_state_recorder.py │ └── record_joint_states_dataset.py │ ├── package.xml │ └── setup.py ├── ros_ws ├── .gitignore └── src │ └── calibration_tools │ ├── CMakeLists.txt │ ├── config │ ├── panda_2.yaml │ ├── panda_3.yaml │ ├── panda_4.yaml │ ├── panda_6.yaml │ └── panda_7.yaml │ ├── package.xml │ └── scripts │ ├── joint_state_recorder.py │ ├── joint_state_recorder_panda.py │ ├── record_joint_states_dataset │ └── record_joint_states_panda ├── scripts ├── .gitignore ├── compare_models.py ├── comparison_with_sota.py ├── compute_improved_performance.py ├── convert_panda_urdf.py ├── eval_model.py ├── generate_complete_analysis.py ├── generate_learning_curve.py ├── generate_overlay.py ├── plot_joint_distribution.py ├── run_optimizer.py ├── statistical_analysis_many_to_one.py └── statistical_analysis_one_to_many.py ├── setup.py ├── stl ├── MUKCa_tool.stl ├── franka_tool.stl ├── kinova_tool.stl ├── kinova_tool_lock.stl ├── kuka_tool.stl └── viper_tool.stl └── urdf ├── gen3lite.urdf ├── iiwa14.urdf ├── panda.urdf └── panda_plus_bota.urdf /.gitignore: -------------------------------------------------------------------------------- 1 | **/__pycache__ 2 | .vscode/ -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/platonics-delft/kinematics_calibration/HEAD/LICENSE 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