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add cob4-24
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‎cob4-24/calibration/calibration_offset.urdf.xacro

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<?xml version="1.0" ?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
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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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<xacro:property name="offset_laser_front_x" value="0.0"/>
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<xacro:property name="offset_laser_front_y" value="0.0"/>
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<xacro:property name="offset_laser_front_z" value="0.0"/>
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<xacro:property name="offset_laser_front_roll" value="0.0"/>
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<xacro:property name="offset_laser_front_pitch" value="0.0"/>
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<xacro:property name="offset_laser_front_yaw" value="0.0"/>
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<!-- laser left mount positions | relative to base_link -->
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<xacro:property name="offset_laser_left_x" value="0.0"/>
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<xacro:property name="offset_laser_left_y" value="0.0"/>
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<xacro:property name="offset_laser_left_z" value="0.0"/>
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<xacro:property name="offset_laser_left_roll" value="0.0"/>
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<xacro:property name="offset_laser_left_pitch" value="0.0"/>
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<xacro:property name="offset_laser_left_yaw" value="0.0"/>
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<!-- laser right mount positions | relative to base_link -->
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<xacro:property name="offset_laser_right_x" value="0.0"/>
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<xacro:property name="offset_laser_right_y" value="0.0"/>
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<xacro:property name="offset_laser_right_z" value="0.0"/>
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<xacro:property name="offset_laser_right_roll" value="0.0"/>
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<xacro:property name="offset_laser_right_pitch" value="0.0"/>
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<xacro: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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<xacro:property name="offset_torso_x" value="0.0"/>
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<xacro:property name="offset_torso_y" value="0.0"/>
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<xacro:property name="offset_torso_z" value="0.0"/>
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<xacro:property name="offset_torso_roll" value="0.0"/>
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<xacro:property name="offset_torso_pitch" value="0.0"/>
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<xacro:property name="offset_torso_yaw" value="0.0"/>
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<!-- head mount positions | relative to torso_3_link -->
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<xacro:property name="offset_head_x" value="0.0"/>
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<xacro:property name="offset_head_y" value="0.0"/>
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<xacro:property name="offset_head_z" value="0.0"/>
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<xacro:property name="offset_head_roll" value="0.0"/>
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<xacro:property name="offset_head_pitch" value="0.0"/>
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<xacro:property name="offset_head_yaw" value="0.0"/>
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<!-- sersorring mount positions | relative to head_3_link -->
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<xacro:property name="offset_sensorring_x" value="0.0"/>
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<xacro:property name="offset_sensorring_y" value="0.0"/>
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<xacro:property name="offset_sensorring_z" value="0.0"/>
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<xacro:property name="offset_sensorring_roll" value="0.0"/>
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<xacro:property name="offset_sensorring_pitch" value="0.0"/>
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<xacro: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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<xacro:property name="offset_arm_right_x" value="0.0"/>
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<xacro:property name="offset_arm_right_y" value="0.0"/>
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<xacro:property name="offset_arm_right_z" value="0.0"/>
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<xacro:property name="offset_arm_right_roll" value="0.0"/>
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<xacro:property name="offset_arm_right_pitch" value="0.0"/>
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<xacro: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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<xacro:property name="offset_arm_left_x" value="0.0"/>
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<xacro:property name="offset_arm_left_y" value="0.0"/>
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<xacro:property name="offset_arm_left_z" value="0.0"/>
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<xacro:property name="offset_arm_left_roll" value="0.0"/>
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<xacro:property name="offset_arm_left_pitch" value="0.0"/>
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<xacro:property name="offset_arm_left_yaw" value="0.0"/>
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<!-- gripper right mount positions | relative to arm_7_link -->
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<xacro:property name="offset_gripper_right_x" value="0.0"/>
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<xacro:property name="offset_gripper_right_y" value="0.0"/>
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<xacro:property name="offset_gripper_right_z" value="0.0"/>
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<xacro:property name="offset_gripper_right_roll" value="0.0"/>
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<xacro:property name="offset_gripper_right_pitch" value="0.0"/>
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<xacro:property name="offset_gripper_right_yaw" value="0.0"/>
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<!-- gripper left mount positions | relative to arm_7_link -->
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<xacro:property name="offset_gripper_left_x" value="0.0"/>
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<xacro:property name="offset_gripper_left_y" value="0.0"/>
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<xacro:property name="offset_gripper_left_z" value="0.0"/>
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<xacro:property name="offset_gripper_left_roll" value="0.0"/>
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<xacro:property name="offset_gripper_left_pitch" value="0.0"/>
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<xacro:property name="offset_gripper_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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<!-- this feature is no longer supported as urdfdom does not parse the according 'calibration_rising' tag -->
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<!-- cam3d left | handeye calibration | relative to torso_3_link -->
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<xacro:property name="offset_torso_cam3d_left_x" value="0.0"/>
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<xacro:property name="offset_torso_cam3d_left_y" value="0.0"/>
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<xacro:property name="offset_torso_cam3d_left_z" value="0.0"/>
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<xacro:property name="offset_torso_cam3d_left_roll" value="0.0"/>
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<xacro:property name="offset_torso_cam3d_left_pitch" value="0.0"/>
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<xacro:property name="offset_torso_cam3d_left_yaw" value="0.0"/>
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<!-- cam3d right | handeye calibration | relative to torso_3_link -->
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<xacro:property name="offset_torso_cam3d_right_x" value="0.0"/>
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<xacro:property name="offset_torso_cam3d_right_y" value="0.0"/>
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<xacro:property name="offset_torso_cam3d_right_z" value="0.0"/>
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<xacro:property name="offset_torso_cam3d_right_roll" value="0.0"/>
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<xacro:property name="offset_torso_cam3d_right_pitch" value="0.0"/>
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<xacro:property name="offset_torso_cam3d_right_yaw" value="0.0"/>
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<!-- cam3d down | handeye calibration | relative to torso_3_link -->
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<xacro:property name="offset_torso_cam3d_down_x" value="0.0"/>
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<xacro:property name="offset_torso_cam3d_down_y" value="0.0"/>
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<xacro:property name="offset_torso_cam3d_down_z" value="0.0"/>
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<xacro:property name="offset_torso_cam3d_down_roll" value="0.0"/>
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<xacro:property name="offset_torso_cam3d_down_pitch" value="0.0"/>
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<xacro:property name="offset_torso_cam3d_down_yaw" value="0.0"/>
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<!-- cam3d | handeye calibration | relative to sensorring_link -->
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<xacro:property name="offset_sensorring_cam3d_x" value="0.0"/>
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<xacro:property name="offset_sensorring_cam3d_y" value="0.0"/>
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<xacro:property name="offset_sensorring_cam3d_z" value="0.0"/>
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<xacro:property name="offset_sensorring_cam3d_roll" value="0.0"/>
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<xacro:property name="offset_sensorring_cam3d_pitch" value="0.0"/>
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<xacro:property name="offset_sensorring_cam3d_yaw" value="0.0"/>
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<!-- cam | handeye calibration | relative to head_3_link -->
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<xacro:property name="offset_head_cam_x" value="0.0"/>
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<xacro:property name="offset_head_cam_y" value="0.0"/>
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<xacro:property name="offset_head_cam_z" value="0.0"/>
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<xacro:property name="offset_head_cam_roll" value="0.0"/>
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<xacro:property name="offset_head_cam_pitch" value="0.0"/>
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<xacro:property name="offset_head_cam_yaw" value="0.0"/>
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</robot>

‎cob4-24/calibration/cameras/head_cam.yaml

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image_width: 1280
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image_height: 960
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camera_name: head_cam
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camera_matrix:
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rows: 3
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cols: 3
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data: [880.7080911778385, 0, 627.6616877342461, 0, 881.2999751980833, 491.5771758707277, 0, 0, 1]
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distortion_model: plumb_bob
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distortion_coefficients:
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rows: 1
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cols: 5
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data: [-0.3596187997560628, 0.1046521709908827, -0.001495978856979693, -0.001177351820299186, 0]
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rectification_matrix:
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rows: 3
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cols: 3
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data: [1, 0, 0, 0, 1, 0, 0, 0, 1]
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projection_matrix:
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rows: 3
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cols: 4
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data: [668.5789794921875, 0, 614.8843741843884, 0, 0, 772.636962890625, 493.3122868681094, 0, 0, 0, 1, 0]

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