diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim_camera_cal/description/mujoco/assets/tag36_11_00003.png b/src/moveit_pro_kinova_configs/space_satellite_sim_camera_cal/description/mujoco/assets/tag36_11_00003.png
index 994d7f42a..5fdf2ad30 100644
--- a/src/moveit_pro_kinova_configs/space_satellite_sim_camera_cal/description/mujoco/assets/tag36_11_00003.png
+++ b/src/moveit_pro_kinova_configs/space_satellite_sim_camera_cal/description/mujoco/assets/tag36_11_00003.png
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:6945a263eadff4ab15a426aad866c00dd9b8c756a10392d8b7e18c0dd0509443
-size 5480
+oid sha256:6c6ef757c14b3b961825df85f6cc196c1dea8bcc65ab4afbdb6d31b7855e20b7
+size 3259
diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim_camera_cal/description/mujoco/assets/tag36_11_00004.png b/src/moveit_pro_kinova_configs/space_satellite_sim_camera_cal/description/mujoco/assets/tag36_11_00004.png
new file mode 100644
index 000000000..a50d13f95
--- /dev/null
+++ b/src/moveit_pro_kinova_configs/space_satellite_sim_camera_cal/description/mujoco/assets/tag36_11_00004.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a066e8a73f4c801c88f36409c95a6974ca61ecc4a20a755a79d4ada6a2ded355
+size 3265
diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim_camera_cal/description/mujoco/assets/tag36_11_00005.png b/src/moveit_pro_kinova_configs/space_satellite_sim_camera_cal/description/mujoco/assets/tag36_11_00005.png
new file mode 100644
index 000000000..8bcff332e
--- /dev/null
+++ b/src/moveit_pro_kinova_configs/space_satellite_sim_camera_cal/description/mujoco/assets/tag36_11_00005.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:04c87a3eaf6310fc28b6470b9c2eee46373ac07c8abacee1a1d6e972d0dc8371
+size 3265
diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim_camera_cal/description/mujoco/gen3_7dof_assets.xml b/src/moveit_pro_kinova_configs/space_satellite_sim_camera_cal/description/mujoco/gen3_7dof_assets.xml
index 5ce229ec8..c9c313906 100644
--- a/src/moveit_pro_kinova_configs/space_satellite_sim_camera_cal/description/mujoco/gen3_7dof_assets.xml
+++ b/src/moveit_pro_kinova_configs/space_satellite_sim_camera_cal/description/mujoco/gen3_7dof_assets.xml
@@ -204,10 +204,14 @@
     <texture type="2d" name="ar_marker_1" file="assets/tag36_11_00001.png" />
     <texture type="2d" name="ar_marker_2" file="assets/tag36_11_00002.png" />
     <texture type="2d" name="ar_marker_3" file="assets/tag36_11_00003.png" />
+    <texture type="2d" name="ar_marker_4" file="assets/tag36_11_00004.png" />
+    <texture type="2d" name="ar_marker_5" file="assets/tag36_11_00005.png" />
     <material name="ar_marker_0" texture="ar_marker_0" texuniform="false" />
     <material name="ar_marker_1" texture="ar_marker_1" texuniform="false" />
     <material name="ar_marker_2" texture="ar_marker_2" texuniform="false" />
     <material name="ar_marker_3" texture="ar_marker_3" texuniform="false" />
+    <material name="ar_marker_4" texture="ar_marker_4" texuniform="false" />
+    <material name="ar_marker_5" texture="ar_marker_5" texuniform="false" />
   </asset>
 
   <contact>
diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim_camera_cal/description/mujoco/scene.xml b/src/moveit_pro_kinova_configs/space_satellite_sim_camera_cal/description/mujoco/scene.xml
index ad9574167..21e98ca67 100644
--- a/src/moveit_pro_kinova_configs/space_satellite_sim_camera_cal/description/mujoco/scene.xml
+++ b/src/moveit_pro_kinova_configs/space_satellite_sim_camera_cal/description/mujoco/scene.xml
@@ -182,6 +182,51 @@
         <include file="gen3_7dof_body.xml" />
       </body>
     </body>
+
+    <!--
+      Satellite calibration tags for the WRIST camera (eye-in-hand). Three tag36h11
+      markers (ids 3,4,5) mounted flat and coplanar on the servicer's front (+x) gold
+      face, facing out into the arm's workspace (quat = Ry90 -> tag normal +x). They sit
+      on the arm-base side of the face, clear of the central docking mechanism. World-
+      fixed; matching URDF frames sat_tag_3/4/5 are children of `world`. Distinct ids
+      from the tool plate (0,1,2) so the wrist can see the tool without corrupting the
+      satellite-tag detections.
+    -->
+    <body name="satellite_tags">
+      <geom
+        name="sat_tag_3"
+        type="box"
+        quat="0.7071068 0 0.7071068 0"
+        size="0.031875 0.031875 0.0002"
+        pos="0.50 0.45 0.04"
+        rgba="1 1 1 1"
+        material="ar_marker_3"
+        contype="0"
+        conaffinity="0"
+      />
+      <geom
+        name="sat_tag_4"
+        type="box"
+        quat="0.7071068 0 0.7071068 0"
+        size="0.031875 0.031875 0.0002"
+        pos="0.50 0.27 0.04"
+        rgba="1 1 1 1"
+        material="ar_marker_4"
+        contype="0"
+        conaffinity="0"
+      />
+      <geom
+        name="sat_tag_5"
+        type="box"
+        quat="0.7071068 0 0.7071068 0"
+        size="0.031875 0.031875 0.0002"
+        pos="0.50 0.36 -0.12"
+        rgba="1 1 1 1"
+        material="ar_marker_5"
+        contype="0"
+        conaffinity="0"
+      />
+    </body>
   </worldbody>
 
   <actuator>
diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim_camera_cal/description/space_satellite_sim.xacro b/src/moveit_pro_kinova_configs/space_satellite_sim_camera_cal/description/space_satellite_sim.xacro
index c306f2668..561ae4a3b 100644
--- a/src/moveit_pro_kinova_configs/space_satellite_sim_camera_cal/description/space_satellite_sim.xacro
+++ b/src/moveit_pro_kinova_configs/space_satellite_sim_camera_cal/description/space_satellite_sim.xacro
@@ -559,45 +559,32 @@
     <child link="calibration_tool_link"/>
     <origin xyz="0 0 0.169" rpy="0 0 0"/>
   </joint>
-  <link name="calibration_tag_right">
-    <visual>
-      <origin xyz="0 0 0" rpy="0 1.5708 0"/>
-      <geometry>
-        <mesh filename="package://picknik_accessories/descriptions/ar_markers/Marker0.dae" scale=".05 .102 .102"/>
-        <!-- .dae tag side len = 0.5m, and tag size is 0.051m -> scale=0.102m -->
-      </geometry>
-    </visual>
-  </link>
-  <joint name="calibration_tag_right_joint" type="fixed">
+  <!--
+    AprilTag TF frames consumed by CalibrateCameraPosePnp. Frame calibration_tag_<id> is the
+    pose of the physical tag with detected id <id>: origin at the tag center, +Z out of the tag
+    face. These reproduce the tags rendered in simulation (description/mujoco/gen3_7dof_body.xml)
+    so the frames stay coincident with what the camera sees. The tag-center positions are the
+    same values the original center-based CalibrateCameraPose used (proven correct in sim); the
+    rpy flips Z so +Z points out of the tag face, which the corner-based PnP solve needs. Detected
+    ids follow the MuJoCo materials: 0 = tool left, 1 = tool right, 2 = bottom.
+  -->
+  <link name="calibration_tag_0"/>
+  <joint name="calibration_tag_0_joint" type="fixed">
     <parent link="calibration_tool_link"/>
-    <child link="calibration_tag_right"/>
-    <origin xyz="-0.08625 -0.04925 -0.01" rpy="0 0 0"/>
+    <child link="calibration_tag_0"/>
+    <origin xyz="0.08625 -0.04925 -0.01" rpy="3.14159 0 0"/>
   </joint>
-  <link name="calibration_tag_left">
-    <visual>
-      <origin xyz="0 0 0" rpy="0 1.5708 0"/>
-      <geometry>
-        <mesh filename="package://picknik_accessories/descriptions/ar_markers/Marker1.dae" scale=".05 .102 .102"/>
-      </geometry>
-    </visual>
-  </link>
-  <joint name="calibration_tag_left_joint" type="fixed">
+  <link name="calibration_tag_1"/>
+  <joint name="calibration_tag_1_joint" type="fixed">
     <parent link="calibration_tool_link"/>
-    <child link="calibration_tag_left"/>
-    <origin xyz="0.08625 -0.04925 -0.01" rpy="0 0 0"/>
+    <child link="calibration_tag_1"/>
+    <origin xyz="-0.08625 -0.04925 -0.01" rpy="3.14159 0 0"/>
   </joint>
-  <link name="calibration_tag_bottom">
-    <visual>
-      <origin xyz="0 0 0" rpy="0 1.5708 0"/>
-      <geometry>
-        <mesh filename="package://picknik_accessories/descriptions/ar_markers/Marker2.dae" scale=".05 .102 .102"/>
-      </geometry>
-    </visual>
-  </link>
-  <joint name="calibration_tag_bottom_joint" type="fixed">
+  <link name="calibration_tag_2"/>
+  <joint name="calibration_tag_2_joint" type="fixed">
     <parent link="calibration_tool_link"/>
-    <child link="calibration_tag_bottom"/>
-    <origin xyz="0.0 -0.18125 -0.01" rpy="0 0 0"/>
+    <child link="calibration_tag_2"/>
+    <origin xyz="0.0 -0.18125 -0.01" rpy="3.14159 0 0"/>
   </joint>
 
   <link name="calibration_tool_frame"/>
@@ -631,6 +618,42 @@
     <origin xyz="0 0 0" rpy="0 0 0" />
   </xacro:realsense_d415>
 
+  <!-- Wrist Camera mount (eye-in-hand calibration). The nominal flange-to-camera pose
+       that the "Calibrate Wrist Camera" objective solves for; paste its result here to
+       correct the extrinsics. For the sim, mount == optical: bracelet_link -> optical is
+       Ry(180 deg) at [0, -0.056, -0.058] (MuJoCo renders /wrist_camera/* from this). -->
+  <link name="wrist_camera_mount_link" />
+  <joint name="wrist_camera_mount_joint" type="fixed">
+    <parent link="bracelet_link" />
+    <child link="wrist_camera_mount_link" />
+    <origin xyz="0 -0.056 -0.058" rpy="0 3.14159265358979 0" />
+  </joint>
+
+  <!-- Satellite calibration tags (static, world-fixed) for the wrist camera. tag36h11
+       ids 3/4/5, mounted flat and coplanar on the servicer's front (+x) gold face, on
+       the arm-base side of the central docking mechanism. rpy (Ry 90 deg) points +Z out
+       of the tag face (normal +x) for the corner-based PnP solve. Poses match the MuJoCo
+       satellite_tags geoms in description/mujoco/scene.xml. The "Calibrate Wrist Camera"
+       objective looks up frame 'sat_tag_<id>'. -->
+  <link name="sat_tag_3" />
+  <joint name="sat_tag_3_joint" type="fixed">
+    <parent link="world" />
+    <child link="sat_tag_3" />
+    <origin xyz="0.50 0.45 0.04" rpy="0 1.5708 0" />
+  </joint>
+  <link name="sat_tag_4" />
+  <joint name="sat_tag_4_joint" type="fixed">
+    <parent link="world" />
+    <child link="sat_tag_4" />
+    <origin xyz="0.50 0.27 0.04" rpy="0 1.5708 0" />
+  </joint>
+  <link name="sat_tag_5" />
+  <joint name="sat_tag_5_joint" type="fixed">
+    <parent link="world" />
+    <child link="sat_tag_5" />
+    <origin xyz="0.50 0.36 -0.12" rpy="0 1.5708 0" />
+  </joint>
+
   <ros2_control name="kinova_mujoco_simulation" type="system">
     <joint name="joint_1">
       <command_interface name="position">
diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim_camera_cal/objectives/calibrate_camera_-_detect_tags.xml b/src/moveit_pro_kinova_configs/space_satellite_sim_camera_cal/objectives/calibrate_camera_-_detect_tags.xml
index 2ebe3a0ec..fd08580a1 100644
--- a/src/moveit_pro_kinova_configs/space_satellite_sim_camera_cal/objectives/calibrate_camera_-_detect_tags.xml
+++ b/src/moveit_pro_kinova_configs/space_satellite_sim_camera_cal/objectives/calibrate_camera_-_detect_tags.xml
@@ -25,7 +25,9 @@
         _collapsed="true"
         computed_poses_vector="{computed_poses_vector}"
         camera_optical_frame="{camera_optical_frame}"
-        waypoint_name="Camera Calibration 1"
+        tag_frame_prefix="{tag_frame_prefix}"
+        mounting_pose_parent_frame="{mounting_pose_parent_frame}"
+        waypoint_name="{waypoint_1_name}"
         camera_image_topic="{camera_image_topic}"
         camera_info_topic="{camera_info_topic}"
       />
@@ -34,7 +36,9 @@
         _collapsed="true"
         computed_poses_vector="{computed_poses_vector}"
         camera_optical_frame="{camera_optical_frame}"
-        waypoint_name="Camera Calibration 2"
+        tag_frame_prefix="{tag_frame_prefix}"
+        mounting_pose_parent_frame="{mounting_pose_parent_frame}"
+        waypoint_name="{waypoint_2_name}"
         camera_image_topic="{camera_image_topic}"
         camera_info_topic="{camera_info_topic}"
       />
@@ -43,7 +47,9 @@
         _collapsed="true"
         computed_poses_vector="{computed_poses_vector}"
         camera_optical_frame="{camera_optical_frame}"
-        waypoint_name="Camera Calibration 3"
+        tag_frame_prefix="{tag_frame_prefix}"
+        mounting_pose_parent_frame="{mounting_pose_parent_frame}"
+        waypoint_name="{waypoint_3_name}"
         camera_image_topic="{camera_image_topic}"
         camera_info_topic="{camera_info_topic}"
       />
@@ -52,7 +58,9 @@
         _collapsed="true"
         computed_poses_vector="{computed_poses_vector}"
         camera_optical_frame="{camera_optical_frame}"
-        waypoint_name="Camera Calibration 4"
+        tag_frame_prefix="{tag_frame_prefix}"
+        mounting_pose_parent_frame="{mounting_pose_parent_frame}"
+        waypoint_name="{waypoint_4_name}"
         camera_image_topic="{camera_image_topic}"
         camera_info_topic="{camera_info_topic}"
       />
@@ -142,6 +150,11 @@
         name="mounting_pose_save_file"
         default="calibrated_scene_camera_mounting_pose.txt"
       />
+      <inout_port name="tag_frame_prefix" default="calibration_tag_" />
+      <inout_port name="waypoint_1_name" default="Camera Calibration 1" />
+      <inout_port name="waypoint_2_name" default="Camera Calibration 2" />
+      <inout_port name="waypoint_3_name" default="Camera Calibration 3" />
+      <inout_port name="waypoint_4_name" default="Camera Calibration 4" />
     </SubTree>
   </TreeNodesModel>
 </root>
diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim_camera_cal/objectives/calibrate_camera_at_waypoint_-_detect.xml b/src/moveit_pro_kinova_configs/space_satellite_sim_camera_cal/objectives/calibrate_camera_at_waypoint_-_detect.xml
index 423381e0d..2385e33a8 100644
--- a/src/moveit_pro_kinova_configs/space_satellite_sim_camera_cal/objectives/calibrate_camera_at_waypoint_-_detect.xml
+++ b/src/moveit_pro_kinova_configs/space_satellite_sim_camera_cal/objectives/calibrate_camera_at_waypoint_-_detect.xml
@@ -20,7 +20,7 @@
       />
       <Action
         ID="WaitForDuration"
-        delay_duration="2.5"
+        delay_duration="5.0"
         name="Wait for arm to settle."
       />
       <Action ID="ResetPoseStampedVector" vector="{poses_at_waypoint_vec}" />
@@ -39,6 +39,7 @@
               ID="Camera Pose from Cal Tool - Detect Tags"
               _collapsed="true"
               camera_optical_frame="{camera_optical_frame}"
+              tag_frame_prefix="{tag_frame_prefix}"
               computed_pose="{computed_pose}"
               camera_image_topic="{camera_image_topic}"
               camera_info_topic="{camera_info_topic}"
@@ -68,10 +69,17 @@
         marker_size="0.05"
         pose="{average_pose_stamped}"
       />
+      <Action
+        ID="TransformPoseFrame"
+        input_pose="{average_pose_stamped}"
+        output_pose="{average_pose_in_mount_parent}"
+        target_frame_id="{mounting_pose_parent_frame}"
+        name="Express per-waypoint optical pose in mount parent frame (rigid to camera; invariant across waypoints, so the cross-waypoint average is unbiased)"
+      />
       <Action
         ID="PushBackVector"
         input_vector="{computed_poses_vector}"
-        element="{average_pose_stamped}"
+        element="{average_pose_in_mount_parent}"
         output_vector="{computed_poses_vector}"
       />
     </Control>
@@ -88,6 +96,11 @@
         name="camera_optical_frame"
         default="{camera_optical_frame}"
       />
+      <inout_port name="tag_frame_prefix" default="calibration_tag_" />
+      <inout_port
+        name="mounting_pose_parent_frame"
+        default="{mounting_pose_parent_frame}"
+      />
       <inout_port
         name="computed_poses_vector"
         default="{computed_poses_vector}"
diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim_camera_cal/objectives/calibrate_wrist_camera.xml b/src/moveit_pro_kinova_configs/space_satellite_sim_camera_cal/objectives/calibrate_wrist_camera.xml
new file mode 100644
index 000000000..c884f3046
--- /dev/null
+++ b/src/moveit_pro_kinova_configs/space_satellite_sim_camera_cal/objectives/calibrate_wrist_camera.xml
@@ -0,0 +1,33 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<root BTCPP_format="4" main_tree_to_execute="Calibrate Wrist Camera">
+  <!--//////////-->
+  <BehaviorTree
+    ID="Calibrate Wrist Camera"
+    _description="Calibrate the wrist-mounted camera (eye-in-hand) from multiple waypoints by observing the static satellite AprilTags with CalibrateCameraPosePnp. Same subtree/behavior as the scene-camera calibration; only the frames, topics, tag prefix, and waypoints differ."
+    _favorite="true"
+  >
+    <SubTree
+      ID="Calibrate Camera - Detect Tags"
+      _collapsed="true"
+      camera_mounting_frame="wrist_camera_mount_link"
+      camera_optical_frame="wrist_camera_optical_frame"
+      mounting_pose_save_file="calibrated_wrist_camera_mounting_pose.txt"
+      camera_image_topic="/wrist_camera/color"
+      camera_info_topic="/wrist_camera/camera_info"
+      mounting_pose_parent_frame="bracelet_link"
+      tag_frame_prefix="sat_tag_"
+      waypoint_1_name="Wrist Camera Calibration 1"
+      waypoint_2_name="Wrist Camera Calibration 2"
+      waypoint_3_name="Wrist Camera Calibration 3"
+      waypoint_4_name="Wrist Camera Calibration 4"
+    />
+  </BehaviorTree>
+  <TreeNodesModel>
+    <SubTree ID="Calibrate Wrist Camera">
+      <MetadataFields>
+        <Metadata runnable="true" />
+        <Metadata subcategory="Perception - Camera Calibration" />
+      </MetadataFields>
+    </SubTree>
+  </TreeNodesModel>
+</root>
diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim_camera_cal/objectives/camera_pose_from_cal_tool_-_detect_tags.xml b/src/moveit_pro_kinova_configs/space_satellite_sim_camera_cal/objectives/camera_pose_from_cal_tool_-_detect_tags.xml
index 56f8e7b7d..a8607df38 100644
--- a/src/moveit_pro_kinova_configs/space_satellite_sim_camera_cal/objectives/camera_pose_from_cal_tool_-_detect_tags.xml
+++ b/src/moveit_pro_kinova_configs/space_satellite_sim_camera_cal/objectives/camera_pose_from_cal_tool_-_detect_tags.xml
@@ -7,7 +7,7 @@
   <BehaviorTree
     ID="Camera Pose from Cal Tool - Detect Tags"
     computed_pose="{computed_pose}"
-    _description="Directly detect the calibration tool's AprilTags to compute the camera pose."
+    _description="Compute the camera optical pose from the calibration tool's AprilTags with a single joint PnP solve over every tag corner."
   >
     <Control ID="Sequence" name="TopLevelSequence">
       <Action
@@ -23,48 +23,15 @@
         topic_name="{camera_info_topic}"
       />
       <Action
-        ID="DetectAprilTags"
-        camera_info="{camera_info}"
-        detections="{detections}"
+        ID="CalibrateCameraPosePnp"
         image="{image}"
-        apriltag_family_name="36h11"
-        max_hamming="0"
-        n_threads="1"
-        quad_decimate="2.0"
-        quad_sigma="0.0"
-        refine_edges="true"
-        tag_size="0.051"
-      />
-      <Action
-        ID="GetDetectionPose"
-        detections="{detections}"
-        name="topRight"
-        target_id="1"
-        detection_pose="{right_pose}"
-      />
-      <Action
-        ID="GetDetectionPose"
-        detections="{detections}"
-        target_id="0"
-        name="topLeft"
-        detection_pose="{left_pose}"
-      />
-      <Action
-        ID="GetDetectionPose"
-        detections="{detections}"
-        target_id="2"
-        name="bottom"
-        detection_pose="{bottom_pose}"
-      />
-      <Action
-        ID="CalibrateCameraPose"
+        camera_info="{camera_info}"
         base_link="base_link"
-        calibration_tool_frame="calibration_tool_frame"
+        tag_frame_prefix="{tag_frame_prefix}"
+        tag_size="0.051"
+        tag_family="tag36h11"
+        min_tags="3"
         computed_pose="{computed_pose}"
-        right_tag_pose="{right_pose}"
-        left_tag_pose="{left_pose}"
-        bottom_tag_pose="{bottom_pose}"
-        camera_optical_frame="{camera_optical_frame}"
       />
       <Action
         ID="VisualizePose"
@@ -88,6 +55,7 @@
         name="camera_optical_frame"
         default="{camera_optical_frame}"
       />
+      <inout_port name="tag_frame_prefix" default="calibration_tag_" />
       <inout_port name="computed_pose" default="{computed_pose}" />
     </SubTree>
   </TreeNodesModel>
diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim_camera_cal/waypoints/waypoints.yaml b/src/moveit_pro_kinova_configs/space_satellite_sim_camera_cal/waypoints/waypoints.yaml
index 8e11bb5b3..5981fe3b3 100644
--- a/src/moveit_pro_kinova_configs/space_satellite_sim_camera_cal/waypoints/waypoints.yaml
+++ b/src/moveit_pro_kinova_configs/space_satellite_sim_camera_cal/waypoints/waypoints.yaml
@@ -306,3 +306,187 @@
     twist: []
     wrench: []
   name: View Tag
+- description: Wrist camera views the satellite tags (eye-in-hand cal)
+  favorite: false
+  joint_group_names:
+  - gripper
+  - manipulator
+  joint_state:
+    effort: []
+    header:
+      frame_id: ''
+      stamp:
+        nanosec: 0
+        sec: 0
+    name:
+    - robotiq_85_left_knuckle_joint
+    - robotiq_85_left_finger_joint
+    - robotiq_85_right_finger_joint
+    - joint_1
+    - joint_2
+    - joint_3
+    - joint_4
+    - joint_5
+    - joint_6
+    - joint_7
+    position:
+    - 0.0029407721601535414
+    - 0.00014643648808031575
+    - 0.0001464364880981395
+    - -0.2415
+    - 0.4937
+    - -1.3862
+    - -2.1321
+    - -0.9097
+    - -1.5143
+    - -0.4093
+    velocity: []
+  multi_dof_joint_state:
+    header:
+      frame_id: ''
+      stamp:
+        nanosec: 0
+        sec: 0
+    joint_names: []
+    transforms: []
+    twist: []
+    wrench: []
+  name: Wrist Camera Calibration 1
+- description: Wrist camera views the satellite tags (eye-in-hand cal)
+  favorite: false
+  joint_group_names:
+  - gripper
+  - manipulator
+  joint_state:
+    effort: []
+    header:
+      frame_id: ''
+      stamp:
+        nanosec: 0
+        sec: 0
+    name:
+    - robotiq_85_left_knuckle_joint
+    - robotiq_85_left_finger_joint
+    - robotiq_85_right_finger_joint
+    - joint_1
+    - joint_2
+    - joint_3
+    - joint_4
+    - joint_5
+    - joint_6
+    - joint_7
+    position:
+    - 0.0029407721601535414
+    - 0.00014643648808031575
+    - 0.0001464364880981395
+    - -0.9033
+    - 1.1219
+    - -1.2598
+    - -1.8335
+    - -0.9293
+    - -1.5142
+    - -1.0942
+    velocity: []
+  multi_dof_joint_state:
+    header:
+      frame_id: ''
+      stamp:
+        nanosec: 0
+        sec: 0
+    joint_names: []
+    transforms: []
+    twist: []
+    wrench: []
+  name: Wrist Camera Calibration 2
+- description: Wrist camera views the satellite tags (eye-in-hand cal)
+  favorite: false
+  joint_group_names:
+  - gripper
+  - manipulator
+  joint_state:
+    effort: []
+    header:
+      frame_id: ''
+      stamp:
+        nanosec: 0
+        sec: 0
+    name:
+    - robotiq_85_left_knuckle_joint
+    - robotiq_85_left_finger_joint
+    - robotiq_85_right_finger_joint
+    - joint_1
+    - joint_2
+    - joint_3
+    - joint_4
+    - joint_5
+    - joint_6
+    - joint_7
+    position:
+    - 0.0029407721601535414
+    - 0.00014643648808031575
+    - 0.0001464364880981395
+    - -1.2524
+    - 1.0288
+    - -0.8622
+    - -2.4734
+    - -1.1231
+    - -1.2013
+    - -0.5478
+    velocity: []
+  multi_dof_joint_state:
+    header:
+      frame_id: ''
+      stamp:
+        nanosec: 0
+        sec: 0
+    joint_names: []
+    transforms: []
+    twist: []
+    wrench: []
+  name: Wrist Camera Calibration 3
+- description: Wrist camera views the satellite tags (eye-in-hand cal)
+  favorite: false
+  joint_group_names:
+  - gripper
+  - manipulator
+  joint_state:
+    effort: []
+    header:
+      frame_id: ''
+      stamp:
+        nanosec: 0
+        sec: 0
+    name:
+    - robotiq_85_left_knuckle_joint
+    - robotiq_85_left_finger_joint
+    - robotiq_85_right_finger_joint
+    - joint_1
+    - joint_2
+    - joint_3
+    - joint_4
+    - joint_5
+    - joint_6
+    - joint_7
+    position:
+    - 0.0029407721601535414
+    - 0.00014643648808031575
+    - 0.0001464364880981395
+    - -0.2284
+    - 0.862
+    - -1.5603
+    - -1.5036
+    - -0.93
+    - -1.8527
+    - -0.8653
+    velocity: []
+  multi_dof_joint_state:
+    header:
+      frame_id: ''
+      stamp:
+        nanosec: 0
+        sec: 0
+    joint_names: []
+    transforms: []
+    twist: []
+    wrench: []
+  name: Wrist Camera Calibration 4