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copied camera pose calibration from kuka robot for new camera holders
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Refills donbot user committed Jul 6, 2021
1 parent 0e86545 commit 185c176
Showing 1 changed file with 8 additions and 2 deletions.
10 changes: 8 additions & 2 deletions iai_donbot_description/robots/iai_donbot.xacro
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<!-- from base_link origin xyz="0.004174 -0.067273 0.062438" rpy="0.209203 0.001106 3.120208"/ -->
<!-- from ur5_base_link origin xyz="0.002956 -0.066498 0.060947" rpy="0.204429 6.281375 3.127197"/ -->
<!-- calib errors: 0.00311, 0.24373, 0.00688, 0.4558 -->
<origin xyz="0.002956 -0.066498 0.060947" rpy="0.204429 6.281375 3.127197" />
<!-- old camera holders -->
<!-- <origin xyz="0.002956 -0.066498 0.060947" rpy="0.204429 6.281375 3.127197" /> -->
<!-- new camera holders -->
<origin xyz="0.0013289 -0.06619 0.031583" rpy="0.231224 -0.0034913 -3.134637307" />
</joint>
<link name="rs_camera_link" />
<joint name="wristcam_to_realsense_joint" type="fixed">
<parent link="camera_link" />
<child link="rs_camera_link" />
<origin xyz="-0.017993 -0.107556 0.017699" rpy="6.270618 4.930698 1.578454" />
<!-- old camera holder -->
<!-- <origin xyz="-0.017993 -0.107556 0.017699" rpy="6.270618 4.930698 1.578454" /> -->
<!-- new camera holder -->
<origin xyz="-0.018594 -0.105693 0.017161" rpy="-0.0120443 -1.3424873 1.579879" />
</joint>

<!-- boxes to cover up switches and stuff -->
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