Change practice bot to be comp bot
Signed-off-by: Maxwell Henderson <maxwell.henderson@mailbox.org>
Change-Id: I0813a5289038aa0fb38e2438d704edfd79fe888a
diff --git a/y2023/constants.cc b/y2023/constants.cc
index c17ffd0..5ab6407 100644
--- a/y2023/constants.cc
+++ b/y2023/constants.cc
@@ -84,6 +84,35 @@
break;
case kCompTeamNumber:
+ arm_proximal->zeroing.measured_absolute_position = 0.911194143585562;
+ arm_proximal->potentiometer_offset =
+ 10.5178592988554 + 0.0944609125285876 - 0.00826532984625095 +
+ 0.167359305216504 + 0.135144500925909 - 0.214909475332252;
+
+ arm_distal->zeroing.measured_absolute_position = 0.295329750530428;
+ arm_distal->potentiometer_offset =
+ 7.673132586937 - 0.0799284644472573 - 0.0323574039310657 +
+ 0.0143810684138064 + 0.00945555248207735 + 0.452446388633863 +
+ 0.0194863477007102 + 0.235993332670562 + 0.00138417783482921 -
+ 1.29562640607084;
+
+ arm_distal->zeroing.one_revolution_distance =
+ M_PI * 2.0 * constants::Values::kDistalEncoderRatio() *
+ (3.12725165289659 + 0.002) / 3.1485739705977704;
+
+ roll_joint->zeroing.measured_absolute_position = 1.79390317510529;
+ roll_joint->potentiometer_offset =
+ 0.624713611895747 + 3.10458504917251 - 0.0966407797407789 +
+ 0.0257708772364788 - 0.0395076737853459 - 6.87914956118006 -
+ 0.097581301615046 + 3.3424421683095 - 3.97605190912604 +
+ 0.709274294168941;
+
+ wrist->subsystem_params.zeroing_constants.measured_absolute_position =
+ 2.97717660361257;
+
+ break;
+
+ case kPracticeTeamNumber:
arm_proximal->zeroing.measured_absolute_position = 0.146982006490838;
arm_proximal->potentiometer_offset =
0.931355973012855 + 8.6743197253382 - 0.101200335326309 -
@@ -118,36 +147,6 @@
break;
- case kPracticeTeamNumber:
- arm_proximal->zeroing.measured_absolute_position = 0.911194143585562;
- arm_proximal->potentiometer_offset =
- 10.5178592988554 + 0.0944609125285876 - 0.00826532984625095 +
- 0.167359305216504 + 0.135144500925909 - 0.214909475332252;
-
- arm_distal->zeroing.measured_absolute_position = 0.295329750530428;
- arm_distal->potentiometer_offset =
- 7.673132586937 - 0.0799284644472573 - 0.0323574039310657 +
- 0.0143810684138064 + 0.00945555248207735 + 0.452446388633863 +
- 0.0194863477007102 + 0.235993332670562 + 0.00138417783482921 -
- 1.29562640607084;
-
- arm_distal->zeroing.one_revolution_distance =
- M_PI * 2.0 * constants::Values::kDistalEncoderRatio() *
- // 3.11964893168338 / 3.148;
- (3.12725165289659 + 0.002) / 3.1485739705977704;
-
- roll_joint->zeroing.measured_absolute_position = 1.79390317510529;
- roll_joint->potentiometer_offset =
- 0.624713611895747 + 3.10458504917251 - 0.0966407797407789 +
- 0.0257708772364788 - 0.0395076737853459 - 6.87914956118006 -
- 0.097581301615046 + 3.3424421683095 - 3.97605190912604 +
- 0.709274294168941;
-
- wrist->subsystem_params.zeroing_constants.measured_absolute_position =
- 2.97717660361257;
-
- break;
-
case kCodingRobotTeamNumber:
arm_proximal->zeroing.measured_absolute_position = 0.0;
arm_proximal->potentiometer_offset = 0.0;
diff --git a/y2023/constants/971.json b/y2023/constants/971.json
index 6e7bc4d..3c3ba38 100644
--- a/y2023/constants/971.json
+++ b/y2023/constants/971.json
@@ -1,16 +1,16 @@
{
"cameras": [
{
- "calibration": {% include 'y2023/vision/calib_files/calibration_pi-971-1_cam-23-05_ext_2023-04-12.json' %}
+ "calibration": {% include 'y2023/vision/calib_files/calibration_pi-971-1_cam-23-09_ext_2023-03-05.json' %}
},
{
- "calibration": {% include 'y2023/vision/calib_files/calibration_pi-971-2_cam-23-06_ext_2023-04-12.json' %}
+ "calibration": {% include 'y2023/vision/calib_files/calibration_pi-971-2_cam-23-10_ext_2023-04-15.json' %}
},
{
- "calibration": {% include 'y2023/vision/calib_files/calibration_pi-971-3_cam-23-04_ext_2023-04-12.json' %}
+ "calibration": {% include 'y2023/vision/calib_files/calibration_pi-971-3_cam-23-11_ext_2023-04-15.json' %}
},
{
- "calibration": {% include 'y2023/vision/calib_files/calibration_pi-971-4_cam-23-08_ext_2023-04-14.json' %}
+ "calibration": {% include 'y2023/vision/calib_files/calibration_pi-971-4_cam-23-12_ext_2023-04-15.json' %}
}
],
"robot": {
diff --git a/y2023/constants/9971.json b/y2023/constants/9971.json
index 31529b2..d687c9e 100644
--- a/y2023/constants/9971.json
+++ b/y2023/constants/9971.json
@@ -1,16 +1,16 @@
{
"cameras": [
{
- "calibration": {% include 'y2023/vision/calib_files/calibration_pi-9971-1_cam-23-09_ext_2023-03-05.json' %}
+ "calibration": {% include 'y2023/vision/calib_files/calibration_pi-9971-1_cam-23-05_ext_2023-04-12.json' %}
},
{
- "calibration": {% include 'y2023/vision/calib_files/calibration_pi-9971-2_cam-23-10_ext_2023-04-15.json' %}
+ "calibration": {% include 'y2023/vision/calib_files/calibration_pi-9971-2_cam-23-06_ext_2023-04-12.json' %}
},
{
- "calibration": {% include 'y2023/vision/calib_files/calibration_pi-9971-3_cam-23-11_ext_2023-04-15.json' %}
+ "calibration": {% include 'y2023/vision/calib_files/calibration_pi-9971-3_cam-23-04_ext_2023-04-12.json' %}
},
{
- "calibration": {% include 'y2023/vision/calib_files/calibration_pi-9971-4_cam-23-12_ext_2023-04-15.json' %}
+ "calibration": {% include 'y2023/vision/calib_files/calibration_pi-9971-4_cam-23-08_ext_2023-04-14.json' %}
}
],
"robot": {
diff --git a/y2023/vision/calib_files/calibration_pi-971-1_cam-23-05_ext_2023-04-12.json b/y2023/vision/calib_files/calibration_pi-971-1_cam-23-05_ext_2023-04-12.json
deleted file mode 100644
index 55641ae..0000000
--- a/y2023/vision/calib_files/calibration_pi-971-1_cam-23-05_ext_2023-04-12.json
+++ /dev/null
@@ -1 +0,0 @@
-{ "node_name": "pi1", "team_number": 971, "intrinsics": [ 888.821655, 0.0, 616.580811, 0.0, 888.336731, 366.017395, 0.0, 0.0, 1.0 ], "fixed_extrinsics": { "data": [ -0.487918, 0.221538, 0.844309, 0.190808, 0.866039, 0.00192, 0.499972, -0.218036, 0.109142, 0.97515, -0.192797, 0.544037, 0.0, 0.0, 0.0, 1.0 ] }, "dist_coeffs": [ -0.4493, 0.25223, 0.000471, -0.00003, -0.079545 ], "calibration_timestamp": 1358501902915096335, "camera_id": "23-05" }
diff --git a/y2023/vision/calib_files/calibration_pi-971-1_cam-23-09_ext_2023-03-05.json b/y2023/vision/calib_files/calibration_pi-971-1_cam-23-09_ext_2023-03-05.json
new file mode 100644
index 0000000..ad8ab23
--- /dev/null
+++ b/y2023/vision/calib_files/calibration_pi-971-1_cam-23-09_ext_2023-03-05.json
@@ -0,0 +1 @@
+{ "node_name": "pi1", "team_number": 971, "intrinsics": [ 893.617798, 0.0, 612.44397, 0.0, 893.193115, 375.196381, 0.0, 0.0, 1.0 ], "fixed_extrinsics": { "data": [ -0.483961, 0.220781, 0.84678, 0.176109, 0.868846, 0.005849, 0.495048, -0.191149, 0.104344, 0.975306, -0.194656, 0.550508, 0.0, 0.0, 0.0, 1.0 ] }, "dist_coeffs": [ -0.443805, 0.238734, 0.000133, 0.000448, -0.071068 ], "calibration_timestamp": 1358499779650270322, "camera_id": "23-09" }
diff --git a/y2023/vision/calib_files/calibration_pi-971-2_cam-23-06_ext_2023-04-12.json b/y2023/vision/calib_files/calibration_pi-971-2_cam-23-06_ext_2023-04-12.json
deleted file mode 100644
index e334884..0000000
--- a/y2023/vision/calib_files/calibration_pi-971-2_cam-23-06_ext_2023-04-12.json
+++ /dev/null
@@ -1 +0,0 @@
-{ "node_name": "pi2", "team_number": 971, "intrinsics": [ 891.706848, 0.0, 640.791931, 0.0, 890.630981, 358.582306, 0.0, 0.0, 1.0 ], "fixed_extrinsics": { "data": [ 0.858536, 0.224804, 0.460847, 0.198133, 0.473832, -0.00434901, -0.880604, -0.221657, -0.195959, 0.974394, -0.110253, 0.593406, 0.0, 0.0, 0.0, 1.0 ] }, "dist_coeffs": [ -0.451473, 0.257519, 0.000337, -0.000298, -0.086102 ], "calibration_timestamp": 1358501526409252911, "camera_id": "23-06" }
diff --git a/y2023/vision/calib_files/calibration_pi-971-2_cam-23-10_ext_2023-03-08.json b/y2023/vision/calib_files/calibration_pi-971-2_cam-23-10_ext_2023-03-08.json
new file mode 100644
index 0000000..37cb8d9
--- /dev/null
+++ b/y2023/vision/calib_files/calibration_pi-971-2_cam-23-10_ext_2023-03-08.json
@@ -0,0 +1 @@
+{ "node_name": "pi2", "team_number": 971, "intrinsics": [ 894.002502, 0.0, 636.431335, 0.0, 893.723816, 377.069672, 0.0, 0.0, 1.0 ], "fixed_extrinsics": { "data": [ 0.830467, 0.233602, 0.505721, 0.242226, 0.519225, 0.004294, -0.854627, -0.167586, -0.201814, 0.972323, -0.117727, 0.614872, 0.0, 0.0, 0.0, 1.0 ] }, "dist_coeffs": [ -0.446659, 0.244189, 0.000632, 0.000171, -0.074849 ], "calibration_timestamp": 1358503360377380613, "camera_id": "23-10" }
diff --git a/y2023/vision/calib_files/calibration_pi-971-2_cam-23-10_ext_2023-04-15.json b/y2023/vision/calib_files/calibration_pi-971-2_cam-23-10_ext_2023-04-15.json
new file mode 100644
index 0000000..f35b97a
--- /dev/null
+++ b/y2023/vision/calib_files/calibration_pi-971-2_cam-23-10_ext_2023-04-15.json
@@ -0,0 +1 @@
+{ "node_name": "pi2", "team_number": 971, "intrinsics": [ 894.002502, 0.0, 636.431335, 0.0, 893.723816, 377.069672, 0.0, 0.0, 1.0 ], "fixed_extrinsics": { "data": [ 0.84843, 0.211678, 0.485137, 0.158197, 0.495653, 0.00388008, -0.868512, -0.196222, -0.185728, 0.977332, -0.101626, 0.575463, 0.0, 0.0, 0.0, 1.0 ] }, "dist_coeffs": [ -0.446659, 0.244189, 0.000632, 0.000171, -0.074849 ], "calibration_timestamp": 1358503360377380613, "camera_id": "23-10" }
diff --git a/y2023/vision/calib_files/calibration_pi-971-3_cam-23-04_ext_2023-04-12.json b/y2023/vision/calib_files/calibration_pi-971-3_cam-23-04_ext_2023-04-12.json
deleted file mode 100644
index b62d3f5..0000000
--- a/y2023/vision/calib_files/calibration_pi-971-3_cam-23-04_ext_2023-04-12.json
+++ /dev/null
@@ -1 +0,0 @@
-{ "node_name": "pi3", "team_number": 971, "intrinsics": [ 888.213257, 0.0, 622.755371, 0.0, 887.352905, 365.591736, 0.0, 0.0, 1.0 ], "fixed_extrinsics": { "data": [ 0.482409, -0.181339, -0.85697, -0.115455, -0.871457, -0.000440151, -0.490471, -0.175596, 0.0885639, 0.983421, -0.158241, 0.61873, 0.0, 0.0, 0.0, 1.0 ] }, "dist_coeffs": [ -0.447815, 0.251622, 0.001888, -0.000286, -0.081473 ], "calibration_timestamp": 1358501982039874176, "camera_id": "23-04" }
diff --git a/y2023/vision/calib_files/calibration_pi-971-3_cam-23-11_ext_2023-03-05.json b/y2023/vision/calib_files/calibration_pi-971-3_cam-23-11_ext_2023-03-05.json
new file mode 100644
index 0000000..13c9036
--- /dev/null
+++ b/y2023/vision/calib_files/calibration_pi-971-3_cam-23-11_ext_2023-03-05.json
@@ -0,0 +1 @@
+{ "node_name": "pi3", "team_number": 971, "intrinsics": [ 891.026001, 0.0, 620.086731, 0.0, 890.566895, 385.035126, 0.0, 0.0, 1.0 ], "fixed_extrinsics": { "data": [ 0.503726, -0.160611, -0.848802, 0.064621, -0.857988, 0.021383, -0.513224, -0.195154, 0.100579, 0.986786, -0.127032, 0.653821, 0.0, 0.0, 0.0, 1.0 ] }, "dist_coeffs": [ -0.448299, 0.250123, -0.00042, -0.000127, -0.078433 ], "calibration_timestamp": 1358503290177115986, "camera_id": "23-11" }
diff --git a/y2023/vision/calib_files/calibration_pi-971-3_cam-23-11_ext_2023-04-15.json b/y2023/vision/calib_files/calibration_pi-971-3_cam-23-11_ext_2023-04-15.json
new file mode 100644
index 0000000..3fe71de
--- /dev/null
+++ b/y2023/vision/calib_files/calibration_pi-971-3_cam-23-11_ext_2023-04-15.json
@@ -0,0 +1 @@
+{ "node_name": "pi3", "team_number": 971, "intrinsics": [ 891.026001, 0.0, 620.086731, 0.0, 890.566895, 385.035126, 0.0, 0.0, 1.0 ], "fixed_extrinsics": { "data": [ 0.468672, -0.174907, -0.865883, -0.106535, -0.875024, 0.0425189, -0.482209, -0.169986, 0.121159, 0.983667, -0.13312, 0.557647, 0.0, 0.0, 0.0, 1.0 ] }, "dist_coeffs": [ -0.448299, 0.250123, -0.00042, -0.000127, -0.078433 ], "calibration_timestamp": 1358503290177115986, "camera_id": "23-11" }
diff --git a/y2023/vision/calib_files/calibration_pi-971-4_cam-23-08_ext_2023-04-14.json b/y2023/vision/calib_files/calibration_pi-971-4_cam-23-08_ext_2023-04-14.json
deleted file mode 100644
index bc5f065..0000000
--- a/y2023/vision/calib_files/calibration_pi-971-4_cam-23-08_ext_2023-04-14.json
+++ /dev/null
@@ -1 +0,0 @@
-{ "node_name": "pi4", "team_number": 971, "intrinsics": [ 890.962952, 0.0, 656.281555, 0.0, 890.707336, 353.938538, 0.0, 0.0, 1.0 ], "fixed_extrinsics": { "data": [ -0.865915, -0.186983, -0.463928, -0.014873, -0.473362, 0.006652, 0.880843, -0.215738, -0.161617, 0.982341, -0.094271, 0.676433, 0.0, 0.0, 0.0, 1.0 ] }, "dist_coeffs": [ -0.450961, 0.256988, -0.000348, -0.00042, -0.083559 ], "calibration_timestamp": 1358501265150551614, "camera_id": "23-08" }
diff --git a/y2023/vision/calib_files/calibration_pi-971-4_cam-23-12_ext_2023-03-05.json b/y2023/vision/calib_files/calibration_pi-971-4_cam-23-12_ext_2023-03-05.json
new file mode 100644
index 0000000..82073fc
--- /dev/null
+++ b/y2023/vision/calib_files/calibration_pi-971-4_cam-23-12_ext_2023-03-05.json
@@ -0,0 +1 @@
+{ "node_name": "pi4", "team_number": 971, "intrinsics": [ 891.127197, 0.0, 640.291321, 0.0, 891.176453, 359.578705, 0.0, 0.0, 1.0 ], "fixed_extrinsics": { "data": [ -0.845241, -0.169204, -0.506891, 0.008046, -0.511496, -0.018479, 0.859087, -0.243442, -0.154727, 0.985408, -0.070928, 0.69704, 0.0, 0.0, 0.0, 1.0 ] }, "dist_coeffs": [ -0.452948, 0.262567, 0.00088, -0.000253, -0.089368 ], "calibration_timestamp": 1358499579812698894, "camera_id": "23-12" }
diff --git a/y2023/vision/calib_files/calibration_pi-971-4_cam-23-12_ext_2023-04-15.json b/y2023/vision/calib_files/calibration_pi-971-4_cam-23-12_ext_2023-04-15.json
new file mode 100644
index 0000000..a1b4e9a
--- /dev/null
+++ b/y2023/vision/calib_files/calibration_pi-971-4_cam-23-12_ext_2023-04-15.json
@@ -0,0 +1 @@
+{ "node_name": "pi4", "team_number": 971, "intrinsics": [ 891.127197, 0.0, 640.291321, 0.0, 891.176453, 359.578705, 0.0, 0.0, 1.0 ], "fixed_extrinsics": { "data": [ -0.87256, -0.183584, -0.452697, -0.126273, -0.466236, 0.036353, 0.883913, -0.184333, -0.145815, 0.982332, -0.117314, 0.616782, 0.0, 0.0, 0.0, 1.0 ] }, "dist_coeffs": [ -0.452948, 0.262567, 0.00088, -0.000253, -0.089368 ], "calibration_timestamp": 1358499579812698894, "camera_id": "23-12" }
diff --git a/y2023/vision/calib_files/calibration_pi-9971-1_cam-23-05_ext_2023-04-12.json b/y2023/vision/calib_files/calibration_pi-9971-1_cam-23-05_ext_2023-04-12.json
new file mode 100644
index 0000000..521d12a
--- /dev/null
+++ b/y2023/vision/calib_files/calibration_pi-9971-1_cam-23-05_ext_2023-04-12.json
@@ -0,0 +1 @@
+{ "node_name": "pi1", "team_number": 9971, "intrinsics": [ 888.821655, 0.0, 616.580811, 0.0, 888.336731, 366.017395, 0.0, 0.0, 1.0 ], "fixed_extrinsics": { "data": [ -0.487918, 0.221538, 0.844309, 0.190808, 0.866039, 0.00192, 0.499972, -0.218036, 0.109142, 0.97515, -0.192797, 0.544037, 0.0, 0.0, 0.0, 1.0 ] }, "dist_coeffs": [ -0.4493, 0.25223, 0.000471, -0.00003, -0.079545 ], "calibration_timestamp": 1358501902915096335, "camera_id": "23-05" }
diff --git a/y2023/vision/calib_files/calibration_pi-9971-1_cam-23-09_ext_2023-03-05.json b/y2023/vision/calib_files/calibration_pi-9971-1_cam-23-09_ext_2023-03-05.json
deleted file mode 100644
index c79f7d3..0000000
--- a/y2023/vision/calib_files/calibration_pi-9971-1_cam-23-09_ext_2023-03-05.json
+++ /dev/null
@@ -1 +0,0 @@
-{ "node_name": "pi1", "team_number": 9971, "intrinsics": [ 893.617798, 0.0, 612.44397, 0.0, 893.193115, 375.196381, 0.0, 0.0, 1.0 ], "fixed_extrinsics": { "data": [ -0.483961, 0.220781, 0.84678, 0.176109, 0.868846, 0.005849, 0.495048, -0.191149, 0.104344, 0.975306, -0.194656, 0.550508, 0.0, 0.0, 0.0, 1.0 ] }, "dist_coeffs": [ -0.443805, 0.238734, 0.000133, 0.000448, -0.071068 ], "calibration_timestamp": 1358499779650270322, "camera_id": "23-09" }
\ No newline at end of file
diff --git a/y2023/vision/calib_files/calibration_pi-9971-2_cam-23-06_ext_2023-04-12.json b/y2023/vision/calib_files/calibration_pi-9971-2_cam-23-06_ext_2023-04-12.json
new file mode 100644
index 0000000..5c9cca8
--- /dev/null
+++ b/y2023/vision/calib_files/calibration_pi-9971-2_cam-23-06_ext_2023-04-12.json
@@ -0,0 +1 @@
+{ "node_name": "pi2", "team_number": 9971, "intrinsics": [ 891.706848, 0.0, 640.791931, 0.0, 890.630981, 358.582306, 0.0, 0.0, 1.0 ], "fixed_extrinsics": { "data": [ 0.858536, 0.224804, 0.460847, 0.198133, 0.473832, -0.00434901, -0.880604, -0.221657, -0.195959, 0.974394, -0.110253, 0.593406, 0.0, 0.0, 0.0, 1.0 ] }, "dist_coeffs": [ -0.451473, 0.257519, 0.000337, -0.000298, -0.086102 ], "calibration_timestamp": 1358501526409252911, "camera_id": "23-06" }
diff --git a/y2023/vision/calib_files/calibration_pi-9971-2_cam-23-10_ext_2023-03-08.json b/y2023/vision/calib_files/calibration_pi-9971-2_cam-23-10_ext_2023-03-08.json
deleted file mode 100644
index 547d8d7..0000000
--- a/y2023/vision/calib_files/calibration_pi-9971-2_cam-23-10_ext_2023-03-08.json
+++ /dev/null
@@ -1 +0,0 @@
-{ "node_name": "pi2", "team_number": 9971, "intrinsics": [ 894.002502, 0.0, 636.431335, 0.0, 893.723816, 377.069672, 0.0, 0.0, 1.0 ], "fixed_extrinsics": { "data": [ 0.830467, 0.233602, 0.505721, 0.242226, 0.519225, 0.004294, -0.854627, -0.167586, -0.201814, 0.972323, -0.117727, 0.614872, 0.0, 0.0, 0.0, 1.0 ] }, "dist_coeffs": [ -0.446659, 0.244189, 0.000632, 0.000171, -0.074849 ], "calibration_timestamp": 1358503360377380613, "camera_id": "23-10" }
\ No newline at end of file
diff --git a/y2023/vision/calib_files/calibration_pi-9971-2_cam-23-10_ext_2023-04-15.json b/y2023/vision/calib_files/calibration_pi-9971-2_cam-23-10_ext_2023-04-15.json
deleted file mode 100644
index e1c0c36..0000000
--- a/y2023/vision/calib_files/calibration_pi-9971-2_cam-23-10_ext_2023-04-15.json
+++ /dev/null
@@ -1 +0,0 @@
-{ "node_name": "pi2", "team_number": 9971, "intrinsics": [ 894.002502, 0.0, 636.431335, 0.0, 893.723816, 377.069672, 0.0, 0.0, 1.0 ], "fixed_extrinsics": { "data": [ 0.84843, 0.211678, 0.485137, 0.158197, 0.495653, 0.00388008, -0.868512, -0.196222, -0.185728, 0.977332, -0.101626, 0.575463, 0.0, 0.0, 0.0, 1.0 ] }, "dist_coeffs": [ -0.446659, 0.244189, 0.000632, 0.000171, -0.074849 ], "calibration_timestamp": 1358503360377380613, "camera_id": "23-10" }
diff --git a/y2023/vision/calib_files/calibration_pi-9971-3_cam-23-04_ext_2023-04-12.json b/y2023/vision/calib_files/calibration_pi-9971-3_cam-23-04_ext_2023-04-12.json
new file mode 100644
index 0000000..11b7f85
--- /dev/null
+++ b/y2023/vision/calib_files/calibration_pi-9971-3_cam-23-04_ext_2023-04-12.json
@@ -0,0 +1 @@
+{ "node_name": "pi3", "team_number": 9971, "intrinsics": [ 888.213257, 0.0, 622.755371, 0.0, 887.352905, 365.591736, 0.0, 0.0, 1.0 ], "fixed_extrinsics": { "data": [ 0.482409, -0.181339, -0.85697, -0.115455, -0.871457, -0.000440151, -0.490471, -0.175596, 0.0885639, 0.983421, -0.158241, 0.61873, 0.0, 0.0, 0.0, 1.0 ] }, "dist_coeffs": [ -0.447815, 0.251622, 0.001888, -0.000286, -0.081473 ], "calibration_timestamp": 1358501982039874176, "camera_id": "23-04" }
diff --git a/y2023/vision/calib_files/calibration_pi-9971-3_cam-23-11_ext_2023-03-05.json b/y2023/vision/calib_files/calibration_pi-9971-3_cam-23-11_ext_2023-03-05.json
deleted file mode 100644
index d4b8bd2..0000000
--- a/y2023/vision/calib_files/calibration_pi-9971-3_cam-23-11_ext_2023-03-05.json
+++ /dev/null
@@ -1 +0,0 @@
-{ "node_name": "pi3", "team_number": 9971, "intrinsics": [ 891.026001, 0.0, 620.086731, 0.0, 890.566895, 385.035126, 0.0, 0.0, 1.0 ], "fixed_extrinsics": { "data": [ 0.503726, -0.160611, -0.848802, 0.064621, -0.857988, 0.021383, -0.513224, -0.195154, 0.100579, 0.986786, -0.127032, 0.653821, 0.0, 0.0, 0.0, 1.0 ] }, "dist_coeffs": [ -0.448299, 0.250123, -0.00042, -0.000127, -0.078433 ], "calibration_timestamp": 1358503290177115986, "camera_id": "23-11" }
\ No newline at end of file
diff --git a/y2023/vision/calib_files/calibration_pi-9971-3_cam-23-11_ext_2023-04-15.json b/y2023/vision/calib_files/calibration_pi-9971-3_cam-23-11_ext_2023-04-15.json
deleted file mode 100644
index 7505a3c..0000000
--- a/y2023/vision/calib_files/calibration_pi-9971-3_cam-23-11_ext_2023-04-15.json
+++ /dev/null
@@ -1 +0,0 @@
-{ "node_name": "pi3", "team_number": 9971, "intrinsics": [ 891.026001, 0.0, 620.086731, 0.0, 890.566895, 385.035126, 0.0, 0.0, 1.0 ], "fixed_extrinsics": { "data": [ 0.468672, -0.174907, -0.865883, -0.106535, -0.875024, 0.0425189, -0.482209, -0.169986, 0.121159, 0.983667, -0.13312, 0.557647, 0.0, 0.0, 0.0, 1.0 ] }, "dist_coeffs": [ -0.448299, 0.250123, -0.00042, -0.000127, -0.078433 ], "calibration_timestamp": 1358503290177115986, "camera_id": "23-11" }
diff --git a/y2023/vision/calib_files/calibration_pi-9971-4_cam-23-08_ext_2023-04-14.json b/y2023/vision/calib_files/calibration_pi-9971-4_cam-23-08_ext_2023-04-14.json
new file mode 100644
index 0000000..cc86664
--- /dev/null
+++ b/y2023/vision/calib_files/calibration_pi-9971-4_cam-23-08_ext_2023-04-14.json
@@ -0,0 +1 @@
+{ "node_name": "pi4", "team_number": 9971, "intrinsics": [ 890.962952, 0.0, 656.281555, 0.0, 890.707336, 353.938538, 0.0, 0.0, 1.0 ], "fixed_extrinsics": { "data": [ -0.865915, -0.186983, -0.463928, -0.014873, -0.473362, 0.006652, 0.880843, -0.215738, -0.161617, 0.982341, -0.094271, 0.676433, 0.0, 0.0, 0.0, 1.0 ] }, "dist_coeffs": [ -0.450961, 0.256988, -0.000348, -0.00042, -0.083559 ], "calibration_timestamp": 1358501265150551614, "camera_id": "23-08" }
diff --git a/y2023/vision/calib_files/calibration_pi-9971-4_cam-23-12_ext_2023-03-05.json b/y2023/vision/calib_files/calibration_pi-9971-4_cam-23-12_ext_2023-03-05.json
deleted file mode 100644
index 7ea2f6d..0000000
--- a/y2023/vision/calib_files/calibration_pi-9971-4_cam-23-12_ext_2023-03-05.json
+++ /dev/null
@@ -1 +0,0 @@
-{ "node_name": "pi4", "team_number": 9971, "intrinsics": [ 891.127197, 0.0, 640.291321, 0.0, 891.176453, 359.578705, 0.0, 0.0, 1.0 ], "fixed_extrinsics": { "data": [ -0.845241, -0.169204, -0.506891, 0.008046, -0.511496, -0.018479, 0.859087, -0.243442, -0.154727, 0.985408, -0.070928, 0.69704, 0.0, 0.0, 0.0, 1.0 ] }, "dist_coeffs": [ -0.452948, 0.262567, 0.00088, -0.000253, -0.089368 ], "calibration_timestamp": 1358499579812698894, "camera_id": "23-12" }
\ No newline at end of file
diff --git a/y2023/vision/calib_files/calibration_pi-9971-4_cam-23-12_ext_2023-04-15.json b/y2023/vision/calib_files/calibration_pi-9971-4_cam-23-12_ext_2023-04-15.json
deleted file mode 100644
index 9591b79..0000000
--- a/y2023/vision/calib_files/calibration_pi-9971-4_cam-23-12_ext_2023-04-15.json
+++ /dev/null
@@ -1 +0,0 @@
-{ "node_name": "pi4", "team_number": 9971, "intrinsics": [ 891.127197, 0.0, 640.291321, 0.0, 891.176453, 359.578705, 0.0, 0.0, 1.0 ], "fixed_extrinsics": { "data": [ -0.87256, -0.183584, -0.452697, -0.126273, -0.466236, 0.036353, 0.883913, -0.184333, -0.145815, 0.982332, -0.117314, 0.616782, 0.0, 0.0, 0.0, 1.0 ] }, "dist_coeffs": [ -0.452948, 0.262567, 0.00088, -0.000253, -0.089368 ], "calibration_timestamp": 1358499579812698894, "camera_id": "23-12" }