diff --git a/scripts/calibrate_roi.py b/scripts/calibrate_roi.py
new file mode 100644
index 0000000..a9d041f
--- /dev/null
+++ b/scripts/calibrate_roi.py
@@ -0,0 +1,15 @@
+import numpy as np
+import rospy
+
+from robot_helpers.ros import tf
+
+
+def main():
+    rospy.init_node("calibrate_roi")
+    tf.init()
+    T_base_roi = tf.lookup("panda_link0", "tag_0")
+    np.savetxt("cfg/T_base_tag.txt", T_base_roi.as_matrix())
+
+
+if __name__ == "__main__":
+    main()