From 1bdf407072f76abb95c50df096f54ee5ff0cf65b Mon Sep 17 00:00:00 2001
From: Adriano Dal Pastro <adrianodalpastro@tielogic.com>
Date: Wed, 13 May 2026 10:17:48 +0200
Subject: [PATCH] chore(config): set wrist_side=left to match calibrated H1 arm

Right side has no calibration in data/calibration_right.yaml;
the H1 left arm is the one with samples + solved hand-eye.

Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
---
 config.yaml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/config.yaml b/config.yaml
index af310eb..bfae7a7 100644
--- a/config.yaml
+++ b/config.yaml
@@ -31,7 +31,7 @@ aruco:
     id: 10
     size_mm: 40.0
 robot:
-  wrist_side: right
+  wrist_side: left
   active: h1
 grasp:
   approach_offset_m: 0.1
@@ -53,7 +53,7 @@ grasp:
     max_rmse_mm: 5.0
 calibration:
   min_samples: 5
-  method: DANIILIDIS  # sweep su 49 sample H1 sx: TSAI=62.5mm, DANIILIDIS=14.2mm trans residual
+  method: DANIILIDIS
   file: data/calibration.yaml
   samples_file: data/samples.json
 chat: