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add cob4-24 #156

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merged 2 commits into from
Sep 18, 2019
Merged

add cob4-24 #156

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c05a90b
add cob4-24
fmessmer Aug 27, 2019
80458e0
transfer mojin calibration to cob calibration for cob4-24
fmessmer Aug 27, 2019
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132 changes: 132 additions & 0 deletions cob4-24/calibration/calibration_offset.urdf.xacro
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<?xml version="1.0" ?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<!-- ***************** -->
<!-- base calibration -->
<!-- ***************** -->
<!-- laser front mount positions | relative to base_link -->
<xacro:property name="offset_laser_front_x" value="0.0"/>
<xacro:property name="offset_laser_front_y" value="0.0"/>
<xacro:property name="offset_laser_front_z" value="0.0"/>
<xacro:property name="offset_laser_front_roll" value="0.0"/>
<xacro:property name="offset_laser_front_pitch" value="0.0"/>
<xacro:property name="offset_laser_front_yaw" value="0.0"/>

<!-- laser left mount positions | relative to base_link -->
<xacro:property name="offset_laser_left_x" value="0.0"/>
<xacro:property name="offset_laser_left_y" value="0.0"/>
<xacro:property name="offset_laser_left_z" value="0.0"/>
<xacro:property name="offset_laser_left_roll" value="0.0"/>
<xacro:property name="offset_laser_left_pitch" value="0.0"/>
<xacro:property name="offset_laser_left_yaw" value="0.0"/>

<!-- laser right mount positions | relative to base_link -->
<xacro:property name="offset_laser_right_x" value="0.0"/>
<xacro:property name="offset_laser_right_y" value="0.0"/>
<xacro:property name="offset_laser_right_z" value="0.0"/>
<xacro:property name="offset_laser_right_roll" value="0.0"/>
<xacro:property name="offset_laser_right_pitch" value="0.0"/>
<xacro:property name="offset_laser_right_yaw" value="0.0"/>

<!-- *********************** -->
<!-- upper robot calibration -->
<!-- *********************** -->

<!-- torso mount positions | relative to base_link -->
<xacro:property name="offset_torso_x" value="0.0"/>
<xacro:property name="offset_torso_y" value="0.0"/>
<xacro:property name="offset_torso_z" value="0.0"/>
<xacro:property name="offset_torso_roll" value="0.0"/>
<xacro:property name="offset_torso_pitch" value="0.0"/>
<xacro:property name="offset_torso_yaw" value="0.0"/>

<!-- head mount positions | relative to torso_3_link -->
<xacro:property name="offset_head_x" value="0.0"/>
<xacro:property name="offset_head_y" value="0.0"/>
<xacro:property name="offset_head_z" value="0.0"/>
<xacro:property name="offset_head_roll" value="0.0"/>
<xacro:property name="offset_head_pitch" value="0.0"/>
<xacro:property name="offset_head_yaw" value="0.0"/>

<!-- sensorring mount positions | relative to head_3_link -->
<xacro:property name="offset_sensorring_x" value="0.0"/>
<xacro:property name="offset_sensorring_y" value="0.0"/>
<xacro:property name="offset_sensorring_z" value="0.0"/>
<xacro:property name="offset_sensorring_roll" value="0.0"/>
<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"/>

<!-- ***************************** -->
<!-- extrinsic camera calibration -->
<!-- ***************************** -->
<!-- torso cam3d left mount positions | relative to torso_3_link -->
<xacro:property name="offset_torso_cam3d_left_x" value="0.0"/>
<xacro:property name="offset_torso_cam3d_left_y" value="0.0"/>
<xacro:property name="offset_torso_cam3d_left_z" value="0.0"/>
<xacro:property name="offset_torso_cam3d_left_roll" value="0.0"/>
<xacro:property name="offset_torso_cam3d_left_pitch" value="0.04"/>
<xacro:property name="offset_torso_cam3d_left_yaw" value="0.0"/>

<!-- torso cam3d right mount positions | relative to torso_3_link -->
<xacro:property name="offset_torso_cam3d_right_x" value="0.0"/>
<xacro:property name="offset_torso_cam3d_right_y" value="0.0"/>
<xacro:property name="offset_torso_cam3d_right_z" value="0.0"/>
<xacro:property name="offset_torso_cam3d_right_roll" value="0.0"/>
<xacro:property name="offset_torso_cam3d_right_pitch" value="0.04"/>
<xacro:property name="offset_torso_cam3d_right_yaw" value="0.0"/>

<!-- torso cam3d down mount positions | relative to torso_3_link -->
<xacro:property name="offset_torso_cam3d_down_x" value="0.0"/>
<xacro:property name="offset_torso_cam3d_down_y" value="0.0"/>
<xacro:property name="offset_torso_cam3d_down_z" value="0.0"/>
<xacro:property name="offset_torso_cam3d_down_roll" value="0.0"/>
<xacro:property name="offset_torso_cam3d_down_pitch" value="0.0"/>
<xacro:property name="offset_torso_cam3d_down_yaw" value="0.0"/>

<!-- sensorring cam3d mount positions | relative to sensorring_link -->
<xacro:property name="offset_sensorring_cam3d_x" value="0.0"/>
<xacro:property name="offset_sensorring_cam3d_y" value="0.0"/>
<xacro:property name="offset_sensorring_cam3d_z" value="0.0"/>
<xacro:property name="offset_sensorring_cam3d_roll" value="0.0"/>
<xacro:property name="offset_sensorring_cam3d_pitch" value="0.0"/>
<xacro:property name="offset_sensorring_cam3d_yaw" value="0.0"/>

<!-- head cam mount positions | relative to head_3_link -->
<xacro:property name="offset_head_cam_x" value="0.0"/>
<xacro:property name="offset_head_cam_y" value="0.0"/>
<xacro:property name="offset_head_cam_z" value="0.0"/>
<xacro:property name="offset_head_cam_roll" value="0.0"/>
<xacro:property name="offset_head_cam_pitch" value="0.0"/>
<xacro:property name="offset_head_cam_yaw" value="0.0"/>
</robot>
20 changes: 20 additions & 0 deletions cob4-24/calibration/cameras/head_cam.yaml
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image_width: 1280
image_height: 960
camera_name: head_cam
camera_matrix:
rows: 3
cols: 3
data: [912.899608, 0.000000, 640.420778, 0.000000, 917.520761, 502.479759, 0.000000, 0.000000, 1.000000]
distortion_model: plumb_bob
distortion_coefficients:
rows: 1
cols: 5
data: [-0.373478, 0.112529, -0.000921, -0.002183, 0.000000]
rectification_matrix:
rows: 3
cols: 3
data: [1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000]
projection_matrix:
rows: 3
cols: 4
data: [700.806335, 0.000000, 632.696581, 0.000000, 0.000000, 809.140137, 508.162883, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000]