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Florian Weißhardt
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Merge pull request #42 from ipa-nhg/groovy_dev_cob4
cob4 integration
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‎cob4-1/calibration/calibration_offset.urdf.xacro

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<?xml version="1.0" ?><robot>
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<!-- ***************** -->
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<!-- base calibration -->
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<!-- ***************** -->
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<!-- laser front mount positions | relative to base_link -->
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<property name="offset_laser_front_x" value="0.0"/>
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<property name="offset_laser_front_y" value="0.0"/>
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<property name="offset_laser_front_z" value="0.0"/>
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<property name="offset_laser_front_roll" value="0.0"/>
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<property name="offset_laser_front_pitch" value="0.0"/>
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<property name="offset_laser_front_yaw" value="0.0"/>
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<!-- laser rear mount positions | relative to base_link -->
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<property name="offset_laser_left_x" value="0.0"/>
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<property name="offset_laser_left_y" value="0.0"/>
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<property name="offset_laser_left_z" value="0.0"/>
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<property name="offset_laser_left_roll" value="0.0"/>
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<property name="offset_laser_left_pitch" value="0.0"/>
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<property name="offset_laser_left_yaw" value="0.0"/>
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<!-- laser top mount positions | relative to base_link -->
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<property name="offset_laser_right_x" value="0.0"/>
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<property name="offset_laser_right_y" value="0.0"/>
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<property name="offset_laser_right_z" value="0.0"/>
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<property name="offset_laser_right_roll" value="0.0"/>
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<property name="offset_laser_right_pitch" value="0.0"/>
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<property name="offset_laser_right_yaw" value="0.0"/>
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<!-- *********************** -->
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<!-- upper robot calibration -->
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<!-- *********************** -->
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<!-- torso mount positions | relative to base_link -->
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<property name="offset_torso_x" value="0.0"/>
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<property name="offset_torso_y" value="0.0"/>
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<property name="offset_torso_z" value="0.0"/>
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<property name="offset_torso_roll" value="0.0"/>
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<property name="offset_torso_pitch" value="0.0"/>
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<property name="offset_torso_yaw" value="0.0"/>
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<!-- head mount positions | relative to torso_3_link -->
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<property name="offset_head_x" value="0.0"/>
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<property name="offset_head_y" value="0.0"/>
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<property name="offset_head_z" value="0.0"/>
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<property name="offset_head_roll" value="0.0"/>
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<property name="offset_head_pitch" value="0.0"/>
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<property name="offset_head_yaw" value="0.0"/>
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<!-- sersorring mount positions | relative to head_3_link -->
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<property name="offset_sensorring_x" value="0.0"/>
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<property name="offset_sensorring_y" value="0.0"/>
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<property name="offset_sensorring_z" value="0.0"/>
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<property name="offset_sensorring_roll" value="0.0"/>
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<property name="offset_sensorring_pitch" value="0.0"/>
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<property name="offset_sensorring_yaw" value="0.0"/>
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<!-- arm right mount positions | relative to torso_3_link -->
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<property name="offset_arm_right_x" value="0.0"/>
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<property name="offset_arm_right_y" value="0.0"/>
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<property name="offset_arm_right_z" value="0.0"/>
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<property name="offset_arm_right_roll" value="0.0"/>
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<property name="offset_arm_right_pitch" value="0.0"/>
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<property name="offset_arm_right_yaw" value="0.0"/>
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<!-- arm left mount positions | relative to torso_3_link -->
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<property name="offset_arm_left_x" value="0.0"/>
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<property name="offset_arm_left_y" value="0.0"/>
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<property name="offset_arm_left_z" value="0.0"/>
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<property name="offset_arm_left_roll" value="0.0"/>
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<property name="offset_arm_left_pitch" value="0.0"/>
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<property name="offset_arm_left_yaw" value="0.0"/>
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<!-- *********************************** -->
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<!-- kinematic chain reference positions -->
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<!-- *********************************** -->
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<!-- torso offset positions | used as calibration_rising for torso chain -->
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<!-- ! set these values to make torso straight with (0, 0, 0) joint angles ! -->
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<property name="offset_torso_1_ref" value="0.0"/>
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<property name="offset_torso_2_ref" value="0.0"/>
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<property name="offset_torso_3_ref" value="0.0"/>
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<!-- head offset positions | used as calibration_rising for head axis chain -->
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<property name="offset_head_1_ref" value="0.0"/>
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<property name="offset_head_2_ref" value="0.0"/>
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<property name="offset_head_3_ref" value="0.0"/>
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<property name="offset_sensorring_ref" value="0.0"/>
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<!-- arm right offset positions | used as calibration_rising for arm chain-->
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<property name="offset_arm_right_1_ref" value="0.0"/>
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<property name="offset_arm_right_2_ref" value="0.0"/>
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<property name="offset_arm_right_3_ref" value="0.0"/>
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<property name="offset_arm_right_4_ref" value="0.0"/>
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<property name="offset_arm_right_5_ref" value="0.0"/>
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<property name="offset_arm_right_6_ref" value="0.0"/>
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<property name="offset_arm_right_7_ref" value="0.0"/>
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<!-- arm left offset positions | used as calibration_rising for arm chain-->
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<property name="offset_arm_left_1_ref" value="0.0"/>
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<property name="offset_arm_left_2_ref" value="0.0"/>
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<property name="offset_arm_left_3_ref" value="0.0"/>
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<property name="offset_arm_left_4_ref" value="0.0"/>
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<property name="offset_arm_left_5_ref" value="0.0"/>
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<property name="offset_arm_left_6_ref" value="0.0"/>
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<property name="offset_arm_left_7_ref" value="0.0"/>
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</robot>

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