From f78a6341052030405aecb045ac645f1b2d89d661 Mon Sep 17 00:00:00 2001
From: ipa-nhg <nhg@ipa-fhg.de>
Date: Wed, 11 Oct 2017 09:24:00 +0200
Subject: [PATCH] setup cob4-7

---
 .../calibration/calibration_offset.urdf.xacro | 32 +++++++++++++++++++
 1 file changed, 32 insertions(+)

diff --git a/cob4-7/calibration/calibration_offset.urdf.xacro b/cob4-7/calibration/calibration_offset.urdf.xacro
index 0316c5f..c303249 100644
--- a/cob4-7/calibration/calibration_offset.urdf.xacro
+++ b/cob4-7/calibration/calibration_offset.urdf.xacro
@@ -55,6 +55,38 @@
 	<xacro:property name="offset_sensorring_pitch" value="0.0"/>
 	<xacro:property name="offset_sensorring_yaw" value="0.0"/>
 
+	<!-- arm right mount positions | relative to torso_3_link -->
+	<xacro:property name="offset_arm_right_x" value="0.0"/>
+	<xacro:property name="offset_arm_right_y" value="0.0"/>
+	<xacro:property name="offset_arm_right_z" value="0.0"/>
+	<xacro:property name="offset_arm_right_roll" value="0.0"/>
+	<xacro:property name="offset_arm_right_pitch" value="0.0"/>
+	<xacro:property name="offset_arm_right_yaw" value="0.0"/>
+
+	<!-- arm left mount positions | relative to torso_3_link -->
+	<xacro:property name="offset_arm_left_x" value="0.0"/>
+	<xacro:property name="offset_arm_left_y" value="0.0"/>
+	<xacro:property name="offset_arm_left_z" value="0.0"/>
+	<xacro:property name="offset_arm_left_roll" value="0.0"/>
+	<xacro:property name="offset_arm_left_pitch" value="0.0"/>
+	<xacro:property name="offset_arm_left_yaw" value="0.0"/>
+
+	<!-- gripper right mount positions | relative to arm_7_link -->
+	<xacro:property name="offset_gripper_right_x" value="0.0"/>
+	<xacro:property name="offset_gripper_right_y" value="0.0"/>
+	<xacro:property name="offset_gripper_right_z" value="0.0"/>
+	<xacro:property name="offset_gripper_right_roll" value="0.0"/>
+	<xacro:property name="offset_gripper_right_pitch" value="0.0"/>
+	<xacro:property name="offset_gripper_right_yaw" value="0.0"/>
+
+	<!-- gripper left mount positions | relative to arm_7_link -->
+	<xacro:property name="offset_gripper_left_x" value="0.0"/>
+	<xacro:property name="offset_gripper_left_y" value="0.0"/>
+	<xacro:property name="offset_gripper_left_z" value="0.0"/>
+	<xacro:property name="offset_gripper_left_roll" value="0.0"/>
+	<xacro:property name="offset_gripper_left_pitch" value="0.0"/>
+	<xacro:property name="offset_gripper_left_yaw" value="0.0"/>
+
 	<!-- *********************************** -->
 	<!-- kinematic chain reference positions -->
 	<!-- *********************************** -->