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Added calibrations for rob@work towers #23

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merged 2 commits into from Aug 8, 2013
Merged

Added calibrations for rob@work towers #23

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be2cd2e
added tower configs to all raw's
Aug 8, 2013
a6d7a4d
Merge branch 'groovy_dev' of github.com:abubeck/cob_calibration_data …
Aug 8, 2013
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10 changes: 10 additions & 0 deletions raw3-1/calibration/calibration.urdf.xacro
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Expand Up @@ -6,6 +6,16 @@
<!-- *********************** -->
<!-- upper robot calibration -->
<!-- *********************** -->

<!-- tower mount positions | relative to base_link -->
<property name="tower_x" value="${def_tower_x+offset_tower_x}"/>
<property name="tower_y" value="${def_tower_y+offset_tower_y}"/>
<property name="tower_z" value="${def_tower_z+offset_tower_z}"/>
<property name="tower_roll" value="${def_tower_roll+offset_tower_roll}"/>
<property name="tower_pitch" value="${def_tower_pitch+offset_tower_pitch}"/>
<property name="tower_yaw" value="${def_tower_yaw+offset_tower_yaw}"/>


<!-- torso mount positions | relative to base_link -->
<property name="torso_x" value="${def_torso_x+offset_torso_x}"/>
<property name="torso_y" value="${def_torso_y+offset_torso_y}"/>
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8 changes: 8 additions & 0 deletions raw3-1/calibration/calibration_default.urdf.xacro
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Expand Up @@ -5,6 +5,14 @@
<!-- kinematic chain reference positions -->
<!-- *********************************** -->

<!-- tower mount positions | relative to base_link -->
<property name="def_tower_x" value="0.357"/>
<property name="def_tower_y" value="0.0"/>
<property name="def_tower_z" value="0.306"/>
<property name="def_tower_roll" value="0.0"/>
<property name="def_tower_pitch" value="0.0"/>
<property name="def_tower_yaw" value="3.14159265359"/>

<!-- 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="torso_pan_ref" value="-0.4363323130"/>
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8 changes: 8 additions & 0 deletions raw3-1/calibration/calibration_offset.urdf.xacro
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Expand Up @@ -4,6 +4,14 @@
<!-- upper robot calibration -->
<!-- *********************** -->

<!-- tower mount positions | relative to base_link -->
<property name="offset_tower_x" value="0.0"/>
<property name="offset_tower_y" value="0.0"/>
<property name="offset_tower_z" value="0.0"/>
<property name="offset_tower_roll" value="0.0"/>
<property name="offset_tower_pitch" value="0.0"/>
<property name="offset_tower_yaw" value="0.0"/>

<!-- torso mount positions | relative to base_link -->
<property name="offset_torso_x" value="0.0"/>
<property name="offset_torso_y" value="0.0"/>
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11 changes: 11 additions & 0 deletions raw3-2/calibration/calibration.urdf.xacro
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Expand Up @@ -3,4 +3,15 @@
<include filename="$(find cob_calibration_data)/raw3-2/calibration/calibration_default.urdf.xacro" />
<include filename="$(find cob_calibration_data)/raw3-2/calibration/calibration_offset.urdf.xacro" />>

<!-- *********************** -->
<!-- upper robot calibration -->
<!-- *********************** -->
<!-- tower mount positions | relative to base_link -->
<property name="tower_x" value="${def_tower_x+offset_tower_x}"/>
<property name="tower_y" value="${def_tower_y+offset_tower_y}"/>
<property name="tower_z" value="${def_tower_z+offset_tower_z}"/>
<property name="tower_roll" value="${def_tower_roll+offset_tower_roll}"/>
<property name="tower_pitch" value="${def_tower_pitch+offset_tower_pitch}"/>
<property name="tower_yaw" value="${def_tower_yaw+offset_tower_yaw}"/>

</robot>
12 changes: 11 additions & 1 deletion raw3-2/calibration/calibration_default.urdf.xacro
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@@ -1,4 +1,14 @@
<?xml version="1.0"?>
<robot>

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

<!-- tower mount positions | relative to base_link -->
<property name="def_tower_x" value="0.356"/>
<property name="def_tower_y" value="0.0"/>
<property name="def_tower_z" value="0.306"/>
<property name="def_tower_roll" value="0.0"/>
<property name="def_tower_pitch" value="0.0"/>
<property name="def_tower_yaw" value="3.14159265359"/>
</robot>
13 changes: 12 additions & 1 deletion raw3-2/calibration/calibration_offset.urdf.xacro
View file
Open in desktop
@@ -1,4 +1,15 @@
<?xml version="1.0" ?>
<robot>


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

<!-- tower mount positions | relative to base_link -->
<property name="offset_tower_x" value="0.0"/>
<property name="offset_tower_y" value="0.0"/>
<property name="offset_tower_z" value="0.0"/>
<property name="offset_tower_roll" value="0.0"/>
<property name="offset_tower_pitch" value="0.0"/>
<property name="offset_tower_yaw" value="0.0"/>
</robot>
10 changes: 9 additions & 1 deletion raw3-4/calibration/calibration.urdf.xacro
View file
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@@ -1,6 +1,14 @@
<?xml version="1.0"?>
<robot>
<include filename="$(find cob_calibration_data)/raw3-4/calibration/calibration_default.urdf.xacro" />
<include filename="$(find cob_calibration_data)/raw3-4/calibration/calibration_offset.urdf.xacro" />>
<include filename="$(find cob_calibration_data)/raw3-4/calibration/calibration_offset.urdf.xacro" />

<!-- tower mount positions | relative to base_link -->
<property name="tower_x" value="${def_tower_x+offset_tower_x}"/>
<property name="tower_y" value="${def_tower_y+offset_tower_y}"/>
<property name="tower_z" value="${def_tower_z+offset_tower_z}"/>
<property name="tower_roll" value="${def_tower_roll+offset_tower_roll}"/>
<property name="tower_pitch" value="${def_tower_pitch+offset_tower_pitch}"/>
<property name="tower_yaw" value="${def_tower_yaw+offset_tower_yaw}"/>

</robot>
12 changes: 11 additions & 1 deletion raw3-4/calibration/calibration_default.urdf.xacro
View file
Open in desktop
@@ -1,4 +1,14 @@
<?xml version="1.0"?>
<robot>

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

<!-- tower mount positions | relative to base_link -->
<property name="def_tower_x" value="0.357"/>
<property name="def_tower_y" value="0.0"/>
<property name="def_tower_z" value="0.306"/>
<property name="def_tower_roll" value="0.0"/>
<property name="def_tower_pitch" value="0.0"/>
<property name="def_tower_yaw" value="3.14159265359"/>
</robot>
11 changes: 11 additions & 0 deletions raw3-4/calibration/calibration_offset.urdf.xacro
View file
Open in desktop
@@ -1,4 +1,15 @@
<?xml version="1.0" ?>
<robot>
<!-- *********************** -->
<!-- upper robot calibration -->
<!-- *********************** -->

<!-- tower mount positions | relative to base_link -->
<property name="offset_tower_x" value="0.0"/>
<property name="offset_tower_y" value="0.0"/>
<property name="offset_tower_z" value="0.0"/>
<property name="offset_tower_roll" value="0.0"/>
<property name="offset_tower_pitch" value="0.0"/>
<property name="offset_tower_yaw" value="0.0"/>

</robot>