Manual camera calibration with new nano enclosure (#29)

Author: amalnanavati

ada_description/urdf/forque/forque.xacro

@@ -84,7 +84,7 @@
 	  		<xacro:insert_block name="default_inertial"/>
 	  	</xacro:forque_assembly_link>
 		<!-- The slight rotation was manually added due to empirical deformations in the robot gripped, such that the fingers and fork handle were slightly pitched up relative to the wrist. -->
-	  	<xacro:forque_assembly_joint joint_name="forkHandle_to_FTMount" parent="FTMount" child="forkHandle" joint_origin_xyz="0 0 0" joint_origin_rpy="-0.0075 0 0"/>
+		<xacro:forque_assembly_joint joint_name="forkHandle_to_FTMount" parent="FTMount" child="forkHandle" joint_origin_xyz="0 0 0" joint_origin_rpy="-0.025 0 0"/>
 
 	  	<xacro:forque_assembly_link link_name="forque" link_mesh="ATI-9105-TW-NANO25-E" mass="0.0634" cog="0.0124692 0.0137169 0.010558">
 	  		<xacro:insert_block name="default_inertial"/>

ada_moveit/calib/manual/calib_camera_pose.launch.py

@@ -21,13 +21,13 @@ def generate_launch_description() -> LaunchDescription:
                 "--child-frame-id",
                 "camera_color_optical_frame",
                 "--x",
-                "0.032",
+                "0.038",
                 "--y",
                 "0.129",
                 "--z",
                 "-0.155",
                 "--roll",
-                "-0.229",
+                "-0.219",
                 "--pitch",
                 "0.0",
                 "--yaw",