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We just upgraded to Fuerte and did a full system calibration on the PR2. The results are notably bad (see plot image [0]), especially the sensor to arm calibration errors. We did it twice with almost the same result.

Does anyone have the same issue after upgrading to Fuerte? Any suggestions on what might be the reason or what can improve the result?

P.S. I wanted to post this as a comment to your answer, but there was no comment field.

[0] http://tams.informatik.uni-hamburg.de/people/rockel/img/calibration_plots_120725_b.png

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