April Tag Calibration Seems to Have Large Errors

[kwesiRutledge]

It looks like the issue may be in this file around lines 37 and 38. How did we decide on these values @Xngzdai ? (They might be close to being correct, but I think we can improve them!) 😄

kinova-arm/drake/vision_calibration_apriltag/test/pose_verification.py

Line 37 in c7f5b3e

X_EndeffectorApriltag = np.identity(4)

[Xngzdai]

Line 37 and 38 constructs the transformation from the end effector's interface to the surface of the apriltag.
Because these two surface are parallel, rotation matrix is an identity matrix.
The translation is applied along the z axis, pointing away from the x-y plane (the interface of the end effector). Therefore, the translation vector is [0, 0, z_offset]
Finally, I combined the rotation matrix and the translation matrix together as one transformation matrix. And I was fairly hesitant in doing this.