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common.xacro
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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:property name="M_PI" value="3.1415926535897931" />
<xacro:property name="VELOCITY_LIMIT_SCALE" value="0.6" />
<!-- Gear Ratio Corrections: Divide transmission reductions by these factors (Nominally 1)-->
<xacro:property name="cal_r_shoulder_pan_gearing" value="1.0" />
<xacro:property name="cal_r_shoulder_lift_gearing" value="1.0" />
<xacro:property name="cal_r_upper_arm_roll_gearing" value="1.0" />
<!-- ********** Right Arm ********** -->
<!-- Flag offsets: Add to the optical flag locations (Nominally 0) -->
<xacro:property name="cal_r_shoulder_pan_flag" value="0.0" />
<xacro:property name="cal_r_shoulder_lift_flag" value="0.0" />
<xacro:property name="cal_r_upper_arm_roll_flag" value="0.0" />
<xacro:property name="cal_r_elbow_flex_flag" value="0.0" />
<xacro:property name="cal_r_forearm_roll_flag" value="0.0" />
<xacro:property name="cal_r_wrist_flex_flag" value="0.0" />
<xacro:property name="cal_r_wrist_roll_flag" value="0.0" />
<!-- ********** Head ********** -->
<!-- Head Location: Add to the transform from torso to head_pan_link (Nominally 0) -->
<xacro:property name="cal_head_x" value="0.0" />
<xacro:property name="cal_head_y" value="0.0" />
<xacro:property name="cal_head_z" value="0.0" />
<xacro:property name="cal_head_roll" value="0.0" />
<xacro:property name="cal_head_pitch" value="0.0" />
<xacro:property name="cal_head_yaw" value="0.0" />
<!-- Flag Offsets -->
<xacro:property name="cal_head_pan_flag" value="0.0" />
<xacro:property name="cal_head_tilt_flag" value="0.0" />
<xacro:property name="cal_head_pan_flag" value="0.0"/>
<xacro:property name="cal_head_tilt_flag" value="0.0"/>
<!-- Casters -->
<xacro:property name="cal_caster_fl" value="0.0" />
<xacro:property name="cal_caster_fr" value="0.0" />
<xacro:property name="cal_caster_bl" value="0.0" />
<xacro:property name="cal_caster_br" value="0.0" />
<!-- Stereo Camera Location (Nominally 0) -->
<xacro:property name="cal_stereo_x" value="0.0" />
<xacro:property name="cal_stereo_y" value="0.0" />
<xacro:property name="cal_stereo_z" value="0.0" />
<xacro:property name="cal_stereo_roll" value="0.0" />
<xacro:property name="cal_stereo_pitch" value="0.0" />
<xacro:property name="cal_stereo_yaw" value="0.0" />
<!-- Kinect Camera Location (Nominally 0) -->
<xacro:property name="cal_kinect_x" value="0.0" />
<xacro:property name="cal_kinect_y" value="0.0" />
<xacro:property name="cal_kinect_z" value="0.0" />
<xacro:property name="cal_kinect_roll" value="0.0" />
<xacro:property name="cal_kinect_pitch" value="0.0" />
<xacro:property name="cal_kinect_yaw" value="0.0" />
<!-- HighDef Camera Location (Nominally 0) -->
<xacro:property name="cal_high_def_x" value="0.0" />
<xacro:property name="cal_high_def_y" value="0.0" />
<xacro:property name="cal_high_def_z" value="0.0" />
<xacro:property name="cal_high_def_roll" value="0.0" />
<xacro:property name="cal_high_def_pitch" value="0.0" />
<xacro:property name="cal_high_def_yaw" value="0.0" />
<!-- Throwing in left arm constants to appease the xacro parser -->
<xacro:property name="cal_l_shoulder_pan_flag" value="0.000000" />
<xacro:property name="cal_l_wrist_roll_flag" value="0.0" />
</robot>