Issues encountered during camera calibration

[YunzhuLi]

• We might want to put Prepare to capture images before Intrinsic Calibration.
• In Prepare to capture images, the folder path is incorrect, which should be changed to src/catkin_projects/station_config/RLG_iiwa_1/hand_eye_calibration.
• We might need to add a note that rgb and ir cannot stream together.
• We might want to note to also change the camera serial number in fusion.py.

5. We need to document the usage of handical for extrinsic calibration.
6. During extrinsic calibration, the current set of the sampled poses in modules/spartan/calibration/handeyecalibration.py trigger "jerky" error as indicated in src/catkin_projects/drake_robot_control/src/plan_runner.cc.
   Both TorqueDriver and PositionDriver have this issue. Following is the error message

Starting plan No. 15
Commanded joint position is too jerky, discarding plan...
dq_cmd limit: 0.0261799
Commanded dq_cmd[5]: 0.0694285
detected unsafe command

position_command:
    -2.62563
    -1.52302
     1.02665
   -0.979948
     -1.4553
    -2.00751
-6.70682e-05

torque_command:
0
0
0
0
0
0
0
sending previous position command instead
setting torque command to zero
safe commands

position_command:
    -2.62563
    -1.52303
     1.02665
   -0.979946
     -1.4553
    -2.07694
-6.69009e-05

torque_command:
0
0
0
0
0
0
0
set current plan to finished
reset plan_local pointer
plan_local == nullptr, holding current position...

7. I have to reinstall handical in order to use it. Not sure if it is due to some issues in the installation script setup/docker/install_handical_dependencies.sh, or it might be my installation error.
8. When using handical by running handical/python/run_handical_rlg.py, I will have to manually copy the intrinsic (e.g. depth_camera_info.yaml and rgb_camera_info.yaml) to the captured image folder (e.g. 20181025-060352_rgb), and add a section like the following to robot_data.yaml under header - target

transform_to_robot_base:
      quaternion:
        w: 1.0
        x: 0.0
        y: 0.0
        z: 0.0
      translation:
        x: 0.6
        y: 0.0
        z: 0.0

[peteflorence]

5 - done
6 - not an issue for me
7 - done
8.1 - i fixed the writing of the robot_data.yaml

the last remaining thing is that the intrinsics need to be copied over, (second part of YunZhu's 8)

@manuelli