diff --git a/astrobee/config/robots/honey.config b/astrobee/config/robots/honey.config
index 5c22798c94..7379886f14 100644
--- a/astrobee/config/robots/honey.config
+++ b/astrobee/config/robots/honey.config
@@ -25,13 +25,13 @@ robot_i2c_bus = "/dev/i2c-1"
 robot_imu_drdy_pin = 4
 
 robot_geometry = {
--- Placeholder transforms, not accurate!
-  nav_cam_to_haz_cam_transform = transform(vec3(0.071421481, -0.00030319673, 0.0018058249), quat4(-0.0030431141, 0.0092646368, 0.99993195, 0.0064039206)),
-  nav_cam_to_sci_cam_transform = transform(vec3(-0.076526224, 0.011869553, 0.045409155), quat4(-0.0035414316, 0.0048089362, -0.0071515076, 0.99995659)),
+-- Calibrated on 2024/07/02
+  nav_cam_to_haz_cam_transform = transform(vec3(0.064408842, -0.0018474084, -0.034520172), quat4(-0.0033437127, 0.0094915996, 0.99994679, 0.0022666378)),
+  nav_cam_to_sci_cam_transform = transform(vec3(-0.049417882, 0.018566808, 0.013784694), quat4(0.0014602934, 0.0016304596, -0.0024437981, 0.99999462)),
   haz_cam_depth_to_image_transform = {
-    0.91602851, -0.00031586647, -0.0028485861, 0.0029767338,
-    0.00032189197, 0.91603089, 0.0019373744, -0.0020741879,
-    0.0028479115, -0.0019383659, 0.91602652, -0.0042296964,
+    0.98948285, 0.001415891, -0.021059668, -0.0070630633,
+    -0.0002719089, 0.9875915, -0.0038065862, -0.00013643275,
+    0.017329852, -0.002283376, 0.96965353, -0.021957843,
     0, 0, 0, 1},
 
 -- Engineering positions with idealized orientations
@@ -76,23 +76,23 @@ robot_camera_calibrations = {
     gain=100,
     exposure=150
   },
-
+-- Calibrated on 2024/07/02
   haz_cam = {
-    distortion_coeff = {-0.411106, 0.375288, -0.00080993, -0.00817328},
+    distortion_coeff = {-0.3068457, 6.8824101e-07, -0.0027885204, -0.0061697912},
     intrinsic_matrix = {
-      188.27394, 0.0, 117.94881,
-      0.0, 186.18359, 87.740547,
+      208.33421, 0.0, 112.77101,
+      0.0, 208.33421, 87.265089,
       0.0, 0.0, 1.0
     },
     gain=50,
     exposure=150
   },
--- Placeholder for sci_cam, not accurate!
+-- Calibrated on 2024/07/02
   sci_cam = {
-    distortion_coeff = {0.128628, -0.167456, 0.00213421, -0.00262211},
+    distortion_coeff = {-0.030601401, 0.048784498, -0.0011287417, 0.00016061301},
     intrinsic_matrix = {
-      859.44015, 0.0, 754.24485,
-      0.0, 849.35466, 487.7349,
+      1034.3785, 0.0, 684.85322,
+      0.0, 1034.3785, 507.41357,
       0.0, 0.0, 1.0
     },
     gain=50,
diff --git a/tools/bag_processing/resources/honey_haz_xyz_coeff.npy b/tools/bag_processing/resources/honey_haz_xyz_coeff.npy
new file mode 100755
index 0000000000..756cfd2e11
Binary files /dev/null and b/tools/bag_processing/resources/honey_haz_xyz_coeff.npy differ