commit c1e12b6bb52187464eeef8350f03f88b1c5e7578
author milind-u <milind.upadhyay@gmail.com> Wed Mar 01 23:44:07 2023 -0800
committer milind-u <milind.upadhyay@gmail.com> Wed Mar 01 23:44:07 2023 -0800
tree 16ddd664968865e87e4fc8b6c6a073159ee92739
parent ccf8b4a0f5dab5a5695c181f10e4e854e6b28f51

Fix sign error in practice robot wrist offset

Also recal the roll joint a bit.

Signed-off-by: milind-u <milind.upadhyay@gmail.com>
Change-Id: I18feee212129984093af61d4c23635d8e067f737

y2023/constants.cc

diff --git a/y2023/constants.cc b/y2023/constants.cc
index 8908811..b7b444d 100644
--- a/y2023/constants.cc
+++ b/y2023/constants.cc
@@ -117,11 +117,12 @@
                                          0.0143810684138064;
 
       roll_joint->zeroing.measured_absolute_position = 1.86685853969852;
-      roll_joint->potentiometer_offset =
-          0.624713611895747 + 3.10458504917251 - 0.0966407797407789;
+      roll_joint->potentiometer_offset = 0.624713611895747 + 3.10458504917251 -
+                                         0.0966407797407789 +
+                                         0.0257708772364788;
 
       wrist->subsystem_params.zeroing_constants.measured_absolute_position =
-          -0.607792293122026;
+          0.615125389629717;
 
       break;