From e765d5a97435e084223482563963686ff99a8884 Mon Sep 17 00:00:00 2001
From: Michel Breyer <10465414+mbreyer@users.noreply.github.com>
Date: Fri, 3 Dec 2021 11:11:57 +0100
Subject: [PATCH] Read base tag transform

---
 scripts/calibrate_roi.py | 15 +++++++++++++++
 1 file changed, 15 insertions(+)
 create mode 100644 scripts/calibrate_roi.py

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()