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Remove calibration_refs for cob3-2 #84

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merged 4 commits into from
Jun 12, 2015
Merged

Remove calibration_refs for cob3-2 #84

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4192726
remove unsupported calibration_rising
fmessmer Jun 3, 2015
1ab322c
allow laser calibration
fmessmer Jun 3, 2015
2c90e1c
Merge branch 'indigo_dev' of github.com:ipa320/cob_calibration_data i…
fmessmer Jun 12, 2015
661424b
remove calibration_refs for cob3-2
fmessmer Jun 12, 2015
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28 changes: 3 additions & 25 deletions cob3-2/calibration/calibration_offset.urdf.xacro
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
<?xml version="1.0"?>
<?xml version="1.0" ?>
<robot>
<!-- ***************** -->
<!-- base calibration -->
Expand Down Expand Up @@ -53,7 +53,7 @@
<property name="offset_head_roll" value="0.0"/>
<property name="offset_head_pitch" value="0.0"/>
<property name="offset_head_yaw" value="0.0"/>

<!-- arm mount positions | relative to base_link -->
<property name="offset_arm_x" value="0.0"/>
<property name="offset_arm_y" value="0.0"/>
Expand All @@ -73,29 +73,7 @@
<!-- *********************************** -->
<!-- kinematic chain reference positions -->
<!-- *********************************** -->
<!-- torso chain calibration_offest! | relative to reference position (see below)-->

<!-- torso reference positions | used as calibration_rising for torso chain -->
<!-- ! set these values to make torso straight with (0, 0, 0) joint angles ! -->
<property name="offset_torso_lower_neck_pan_ref" value="0.0" />
<property name="offset_torso_lower_neck_tilt_ref" value="0.0" />
<property name="offset_torso_upper_neck_pan_ref" value="0.0" />
<property name="offset_torso_upper_neck_tilt_ref" value="0.0" />

<!-- tray reference position | used as calibration_rising for tray chain -->
<property name="offset_tray_ref" value="0.0"/>

<!-- head camera axis reference position | used as calibration_rising for head axis chain -->
<property name="offset_head_axis_ref" value="0.0"/>

<!-- arm reference positions | used as calibration_rising for arm chain-->
<property name="offset_arm_1_ref" value="0.0"/>
<property name="offset_arm_2_ref" value="0.0"/>
<property name="offset_arm_3_ref" value="0.0"/>
<property name="offset_arm_4_ref" value="0.0"/>
<property name="offset_arm_5_ref" value="0.0"/>
<property name="offset_arm_6_ref" value="0.0"/>
<property name="offset_arm_7_ref" value="0.0"/>
<!-- this feature is no longer supported as urdfdom does not parse the according 'calibration_rising' tag -->

<!-- ***************************** -->
<!-- camera calibration properties -->
Expand Down
25 changes: 1 addition & 24 deletions cob3-6/calibration/calibration_offset.urdf.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -73,30 +73,7 @@
<!-- *********************************** -->
<!-- kinematic chain reference positions -->
<!-- *********************************** -->
<!-- torso chain calibration_offest! | relative to reference position (see below)-->

<!-- torso reference positions | used as calibration_rising for torso chain -->
<!-- ! set these values to make torso straight with (0, 0, 0) joint angles ! -->
<property name="offset_torso_lower_neck_tilt_ref" value="0.0"/>
<property name="offset_torso_pan_ref" value="0.0"/>
<property name="offset_torso_upper_neck_tilt_ref" value="0.0"/>

<!-- tray reference position | used as calibration_rising for tray chain -->
<property name="offset_tray_1_ref" value="0.0"/>
<property name="offset_tray_2_ref" value="0.0"/>
<property name="offset_tray_3_ref" value="0.0"/>

<!-- head camera axis reference position | used as calibration_rising for head axis chain -->
<property name="offset_head_axis_ref" value="0.0"/>

<!-- arm reference positions | used as calibration_rising for arm chain-->
<property name="offset_arm_1_ref" value="0.0"/>
<property name="offset_arm_2_ref" value="0.0"/>
<property name="offset_arm_3_ref" value="0.0"/>
<property name="offset_arm_4_ref" value="0.0"/>
<property name="offset_arm_5_ref" value="0.0"/>
<property name="offset_arm_6_ref" value="0.0"/>
<property name="offset_arm_7_ref" value="0.0"/>
<!-- this feature is no longer supported as urdfdom does not parse the according 'calibration_rising' tag -->

<!-- ***************************** -->
<!-- camera calibration properties -->
Expand Down
29 changes: 2 additions & 27 deletions cob3-9/calibration/calibration_offset.urdf.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -72,33 +72,8 @@
<!-- *********************************** -->
<!-- kinematic chain reference positions -->
<!-- *********************************** -->
<!-- torso chain calibration_offest! | relative to reference position (see below)-->

<!-- torso reference positions | used as calibration_rising for torso chain -->
<!-- ! set these values to make torso straight with (0, 0, 0) joint angles ! -->
<property name="offset_torso_lower_neck_tilt_ref" value="0.0"/>
<property name="offset_torso_pan_ref" value="0.0"/>
<property name="offset_torso_upper_neck_tilt_ref" value="0.03"/>

<!-- tray reference position | used as calibration_rising for tray chain -->
<property name="offset_tray_ref" value="0.0"/>

<!-- head camera axis reference position | used as calibration_rising for head axis chain -->
<property name="offset_head_axis_ref" value="0.0"/>

<!-- arm reference positions | used as calibration_rising for arm chain-->
<property name="offset_arm_1_ref" value="0.0"/>
<property name="offset_arm_2_ref" value="0.0"/>
<property name="offset_arm_3_ref" value="0.0"/>
<property name="offset_arm_4_ref" value="0.0"/>
<property name="offset_arm_5_ref" value="0.0"/>
<property name="offset_arm_6_ref" value="0.0"/>
<property name="offset_arm_7_ref" value="0.0"/>

<!-- gripper reference positions | used as calibration_rising for gripper chain-->
<property name="offset_pg70_finger_left_ref" value="0.0"/>
<property name="offset_pg70_finger_right_ref" value="0.0"/>

<!-- this feature is no longer supported as urdfdom does not parse the according 'calibration_rising' tag -->

<!-- ***************************** -->
<!-- camera calibration properties -->
<!-- ***************************** -->
Expand Down
40 changes: 1 addition & 39 deletions cob4-1/calibration/calibration_offset.urdf.xacro
View file
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Original file line number Diff line number Diff line change
Expand Up @@ -89,46 +89,8 @@
<!-- *********************************** -->
<!-- kinematic chain reference positions -->
<!-- *********************************** -->
<!-- torso offset positions | used as calibration_rising for torso chain -->
<!-- ! set these values to make torso straight with (0, 0, 0) joint angles ! -->
<property name="offset_torso_1_ref" value="0.0"/>
<property name="offset_torso_2_ref" value="0.0"/>
<property name="offset_torso_3_ref" value="0.0"/>

<!-- head offset positions | used as calibration_rising for head axis chain -->
<property name="offset_head_1_ref" value="0.0"/>
<property name="offset_head_2_ref" value="0.0"/>
<property name="offset_head_3_ref" value="0.0"/>

<!-- sensorring offset positions | used as calibration_rising for sensorring chain -->
<property name="offset_sensorring_ref" value="0.0"/>

<!-- arm right offset positions | used as calibration_rising for arm chain-->
<property name="offset_arm_right_1_ref" value="0.0"/>
<property name="offset_arm_right_2_ref" value="0.0"/>
<property name="offset_arm_right_3_ref" value="0.0"/>
<property name="offset_arm_right_4_ref" value="0.0"/>
<property name="offset_arm_right_5_ref" value="0.0"/>
<property name="offset_arm_right_6_ref" value="0.0"/>
<property name="offset_arm_right_7_ref" value="0.0"/>
<!-- this feature is no longer supported as urdfdom does not parse the according 'calibration_rising' tag -->

<!-- arm left offset positions | used as calibration_rising for arm chain-->
<property name="offset_arm_left_1_ref" value="0.0"/>
<property name="offset_arm_left_2_ref" value="0.0"/>
<property name="offset_arm_left_3_ref" value="0.0"/>
<property name="offset_arm_left_4_ref" value="0.0"/>
<property name="offset_arm_left_5_ref" value="0.0"/>
<property name="offset_arm_left_6_ref" value="0.0"/>
<property name="offset_arm_left_7_ref" value="0.0"/>

<!-- gripper right reference positions | used as calibration_rising for gripper chain-->
<property name="offset_gripper_right_finger_1_ref" value="0.0"/>
<property name="offset_gripper_right_finger_2_ref" value="0.0"/>

<!-- gripper left reference positions | used as calibration_rising for gripper chain-->
<property name="offset_gripper_left_finger_1_ref" value="0.0"/>
<property name="offset_gripper_left_finger_2_ref" value="0.0"/>

<!-- cam3d left | handeye calibration | relative to torso_3_link -->
<property name="offset_torso_cam3d_left_x" value="0.0"/>
<property name="offset_torso_cam3d_left_y" value="0.0"/>
Expand Down
34 changes: 1 addition & 33 deletions cob4-2/calibration/calibration_offset.urdf.xacro
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -89,40 +89,8 @@
<!-- *********************************** -->
<!-- kinematic chain reference positions -->
<!-- *********************************** -->
<!-- torso offset positions | used as calibration_rising for torso chain -->
<!-- ! set these values to make torso straight with (0, 0, 0) joint angles ! -->
<property name="offset_torso_2_ref" value="0.0"/>
<property name="offset_torso_3_ref" value="0.0"/>
<!-- this feature is no longer supported as urdfdom does not parse the according 'calibration_rising' tag -->

<!-- sensorring offset positions | used as calibration_rising for sensorring chain -->
<property name="offset_sensorring_ref" value="0.0"/>

<!-- arm right offset positions | used as calibration_rising for arm chain-->
<property name="offset_arm_right_1_ref" value="0.0"/>
<property name="offset_arm_right_2_ref" value="0.0"/>
<property name="offset_arm_right_3_ref" value="0.0"/>
<property name="offset_arm_right_4_ref" value="0.0"/>
<property name="offset_arm_right_5_ref" value="0.0"/>
<property name="offset_arm_right_6_ref" value="0.0"/>
<property name="offset_arm_right_7_ref" value="0.0"/>

<!-- arm left offset positions | used as calibration_rising for arm chain-->
<property name="offset_arm_left_1_ref" value="0.0"/>
<property name="offset_arm_left_2_ref" value="0.0"/>
<property name="offset_arm_left_3_ref" value="0.0"/>
<property name="offset_arm_left_4_ref" value="0.0"/>
<property name="offset_arm_left_5_ref" value="0.0"/>
<property name="offset_arm_left_6_ref" value="0.0"/>
<property name="offset_arm_left_7_ref" value="0.0"/>

<!-- gripper right reference positions | used as calibration_rising for gripper chain-->
<property name="offset_gripper_right_finger_1_ref" value="0.0"/>
<property name="offset_gripper_right_finger_2_ref" value="0.0"/>

<!-- gripper left reference positions | used as calibration_rising for gripper chain-->
<property name="offset_gripper_left_finger_1_ref" value="0.0"/>
<property name="offset_gripper_left_finger_2_ref" value="0.0"/>

<!-- cam3d left | handeye calibration | relative to torso_3_link -->
<property name="offset_torso_cam3d_left_x" value="0.0"/>
<property name="offset_torso_cam3d_left_y" value="0.0"/>
Expand Down
19 changes: 19 additions & 0 deletions raw3-1/calibration/calibration_offset.urdf.xacro
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Original file line number Diff line number Diff line change
@@ -1,5 +1,24 @@
<?xml version="1.0" ?>
<robot>
<!-- ***************** -->
<!-- base calibration -->
<!-- ***************** -->
<!-- laser front mount positions | relative to base_link -->
<property name="offset_laser_front_x" value="0.0"/>
<property name="offset_laser_front_y" value="0.0"/>
<property name="offset_laser_front_z" value="0.0"/>
<property name="offset_laser_front_roll" value="0.0"/>
<property name="offset_laser_front_pitch" value="0.0"/>
<property name="offset_laser_front_yaw" value="0.0"/>

<!-- laser rear mount positions | relative to base_link -->
<property name="offset_laser_rear_x" value="0.0"/>
<property name="offset_laser_rear_y" value="0.0"/>
<property name="offset_laser_rear_z" value="0.0"/>
<property name="offset_laser_rear_roll" value="0.0"/>
<property name="offset_laser_rear_pitch" value="0.0"/>
<property name="offset_laser_rear_yaw" value="0.0"/>

<!-- *********************** -->
<!-- upper robot calibration -->
<!-- *********************** -->
Expand Down
18 changes: 18 additions & 0 deletions raw3-2/calibration/calibration_offset.urdf.xacro
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Original file line number Diff line number Diff line change
@@ -1,5 +1,23 @@
<?xml version="1.0" ?>
<robot>
<!-- ***************** -->
<!-- base calibration -->
<!-- ***************** -->
<!-- laser front mount positions | relative to base_link -->
<property name="offset_laser_front_x" value="0.0"/>
<property name="offset_laser_front_y" value="0.0"/>
<property name="offset_laser_front_z" value="0.0"/>
<property name="offset_laser_front_roll" value="0.0"/>
<property name="offset_laser_front_pitch" value="0.0"/>
<property name="offset_laser_front_yaw" value="0.0"/>

<!-- laser rear mount positions | relative to base_link -->
<property name="offset_laser_rear_x" value="0.0"/>
<property name="offset_laser_rear_y" value="0.0"/>
<property name="offset_laser_rear_z" value="0.0"/>
<property name="offset_laser_rear_roll" value="0.0"/>
<property name="offset_laser_rear_pitch" value="0.0"/>
<property name="offset_laser_rear_yaw" value="0.0"/>

<!-- *********************************** -->
<!-- kinematic chain reference positions -->
Expand Down
24 changes: 20 additions & 4 deletions raw3-3/calibration/calibration_offset.urdf.xacro
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Original file line number Diff line number Diff line change
@@ -1,10 +1,29 @@
<?xml version="1.0"?>
<robot>
<!-- ***************** -->
<!-- base calibration -->
<!-- ***************** -->
<!-- laser front mount positions | relative to base_link -->
<property name="offset_laser_front_x" value="0.0"/>
<property name="offset_laser_front_y" value="0.0"/>
<property name="offset_laser_front_z" value="0.0"/>
<property name="offset_laser_front_roll" value="0.0"/>
<property name="offset_laser_front_pitch" value="0.0"/>
<property name="offset_laser_front_yaw" value="0.0"/>

<!-- laser rear mount positions | relative to base_link -->
<property name="offset_laser_rear_x" value="0.0"/>
<property name="offset_laser_rear_y" value="0.0"/>
<property name="offset_laser_rear_z" value="0.0"/>
<property name="offset_laser_rear_roll" value="0.0"/>
<property name="offset_laser_rear_pitch" value="0.0"/>
<property name="offset_laser_rear_yaw" value="0.0"/>

<!-- *********************************** -->
<!-- kinematic chain reference positions -->
<!-- *********************************** -->

<!-- this feature is no longer supported as urdfdom does not parse the according 'calibration_rising' tag -->

<!-- tower mount positions | relative to base_link -->
<property name="offset_tower_x" value="0.0"/>
<property name="offset_tower_y" value="0.0"/>
Expand Down Expand Up @@ -84,8 +103,5 @@
<property name="offset_cam_holder_roll" value="0.0"/>
<property name="offset_cam_holder_pitch" value="3.14"/>
<property name="offset_cam_holder_yaw" value="0.0"/>

<property name="offset_torso_bottom_ref" value="3.14"/>
<property name="offset_torso_side_ref" value="-0.43"/>

</robot>
19 changes: 19 additions & 0 deletions raw3-4/calibration/calibration_offset.urdf.xacro
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Original file line number Diff line number Diff line change
@@ -1,5 +1,24 @@
<?xml version="1.0" ?>
<robot>
<!-- ***************** -->
<!-- base calibration -->
<!-- ***************** -->
<!-- laser front mount positions | relative to base_link -->
<property name="offset_laser_front_x" value="0.0"/>
<property name="offset_laser_front_y" value="0.0"/>
<property name="offset_laser_front_z" value="0.0"/>
<property name="offset_laser_front_roll" value="0.0"/>
<property name="offset_laser_front_pitch" value="0.0"/>
<property name="offset_laser_front_yaw" value="0.0"/>

<!-- laser rear mount positions | relative to base_link -->
<property name="offset_laser_rear_x" value="0.0"/>
<property name="offset_laser_rear_y" value="0.0"/>
<property name="offset_laser_rear_z" value="0.0"/>
<property name="offset_laser_rear_roll" value="0.0"/>
<property name="offset_laser_rear_pitch" value="0.0"/>
<property name="offset_laser_rear_yaw" value="0.0"/>

<!-- *********************** -->
<!-- upper robot calibration -->
<!-- *********************** -->
Expand Down
21 changes: 20 additions & 1 deletion raw3-5/calibration/calibration_offset.urdf.xacro
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Original file line number Diff line number Diff line change
@@ -1,4 +1,23 @@
<?xml version="1.0" ?>
<robot>


<!-- ***************** -->
<!-- base calibration -->
<!-- ***************** -->
<!-- laser front mount positions | relative to base_link -->
<property name="offset_laser_front_x" value="0.0"/>
<property name="offset_laser_front_y" value="0.0"/>
<property name="offset_laser_front_z" value="0.0"/>
<property name="offset_laser_front_roll" value="0.0"/>
<property name="offset_laser_front_pitch" value="0.0"/>
<property name="offset_laser_front_yaw" value="0.0"/>

<!-- laser rear mount positions | relative to base_link -->
<property name="offset_laser_rear_x" value="0.0"/>
<property name="offset_laser_rear_y" value="0.0"/>
<property name="offset_laser_rear_z" value="0.0"/>
<property name="offset_laser_rear_roll" value="0.0"/>
<property name="offset_laser_rear_pitch" value="0.0"/>
<property name="offset_laser_rear_yaw" value="0.0"/>

</robot>
21 changes: 20 additions & 1 deletion raw3-6/calibration/calibration_offset.urdf.xacro
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Original file line number Diff line number Diff line change
@@ -1,10 +1,29 @@
<?xml version="1.0" ?>
<robot>
<!-- ***************** -->
<!-- base calibration -->
<!-- ***************** -->
<!-- laser front mount positions | relative to base_link -->
<property name="offset_laser_front_x" value="0.0"/>
<property name="offset_laser_front_y" value="0.0"/>
<property name="offset_laser_front_z" value="0.0"/>
<property name="offset_laser_front_roll" value="0.0"/>
<property name="offset_laser_front_pitch" value="0.0"/>
<property name="offset_laser_front_yaw" value="0.0"/>

<!-- laser rear mount positions | relative to base_link -->
<property name="offset_laser_rear_x" value="0.0"/>
<property name="offset_laser_rear_y" value="0.0"/>
<property name="offset_laser_rear_z" value="0.0"/>
<property name="offset_laser_rear_roll" value="0.0"/>
<property name="offset_laser_rear_pitch" value="0.0"/>
<property name="offset_laser_rear_yaw" value="0.0"/>

<!-- *********************************** -->
<!-- kinematic chain reference positions -->
<!-- *********************************** -->

<!-- this feature is no longer supported as urdfdom does not parse the according 'calibration_rising' tag -->

<!-- tower mount positions | relative to base_link -->
<property name="offset_tower_x" value="0.0"/>
<property name="offset_tower_y" value="0.0"/>
Expand Down