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setup cob4-7 #142

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merged 1 commit into from
Oct 12, 2017
Merged

setup cob4-7 #142

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32 changes: 32 additions & 0 deletions cob4-7/calibration/calibration_offset.urdf.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -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 -->
<!-- *********************************** -->
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