diff --git a/cob4-1/calibration/calibration_offset.urdf.xacro b/cob4-1/calibration/calibration_offset.urdf.xacro
index 7fc5702..8991a4f 100644
--- a/cob4-1/calibration/calibration_offset.urdf.xacro
+++ b/cob4-1/calibration/calibration_offset.urdf.xacro
@@ -105,5 +105,28 @@
 	<property name="offset_arm_left_6_ref" value="0.0"/>
 	<property name="offset_arm_left_7_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"/>
+	<property name="offset_torso_cam3d_left_z" value="0.0"/>
+	<property name="offset_torso_cam3d_left_roll" value="0.0"/>
+	<property name="offset_torso_cam3d_left_pitch" value="0.0"/>
+	<property name="offset_torso_cam3d_left_yaw" value="0.0"/>
+	
+	<!-- cam3d right | handeye calibration | relative to torso_3_link -->
+	<property name="offset_torso_cam3d_right_x" value="0.0"/>
+	<property name="offset_torso_cam3d_right_y" value="0.0"/>
+	<property name="offset_torso_cam3d_right_z" value="0.0"/>
+	<property name="offset_torso_cam3d_right_roll" value="0.0"/>
+	<property name="offset_torso_cam3d_right_pitch" value="0.0"/>
+	<property name="offset_torso_cam3d_right_yaw" value="0.0"/>
+	
+	<!-- cam3d down | handeye calibration | relative to torso_3_link -->
+	<property name="offset_torso_cam3d_down_x" value="0.0"/>
+	<property name="offset_torso_cam3d_down_y" value="0.0"/>
+	<property name="offset_torso_cam3d_down_z" value="0.0"/>
+	<property name="offset_torso_cam3d_down_roll" value="0.0"/>
+	<property name="offset_torso_cam3d_down_pitch" value="0.0"/>
+	<property name="offset_torso_cam3d_down_yaw" value="0.0"/>
+	
 </robot>