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Correct tf calibration of Optoforce 6 axis F/T sensors #4

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Correct tf calibration of Optoforce 6 axis F/T sensors #4

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25f586e
Changed the orientation and parents of Optoforce sensors link to the …
YoshuaNava Aug 6, 2018
04ec32e
Fixed cylinder (sensor) length to match the new mounts
YoshuaNava Aug 6, 2018
597c6a7
Updated sensor tf values
YoshuaNava Aug 7, 2018
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15 changes: 8 additions & 7 deletions ridgeback_yumi_description/urdf/ridgeback_yumi.urdf.xacro
View file
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Original file line number Diff line number Diff line change
Expand Up @@ -19,28 +19,29 @@
<xacro:include filename="$(find yumi_description)/urdf/Gazebo/gazebo.urdf.xacro"/>


<!--yumi-->
<!-- yumi -->
<xacro:yumi name="yumi" hardware_interface="hardware_interface/VelocityJointInterface" parent="yumi_pedestal">
<origin xyz="0 0 0.1" rpy="0 0 0" />
</xacro:yumi>


<!-- Optoforce F/T sensors -->
<xacro:yumi_optodaq_sensor name="optodaq_r" parent="yumi_link_7_r">
<origin xyz="0 0 0.033" rpy="0 ${PI} ${-PI/4}" />
<origin xyz="0 0 0.0445" rpy="0 0 0" />
</xacro:yumi_optodaq_sensor>

<xacro:yumi_optodaq_sensor name="optodaq_l" parent="yumi_link_7_l">
<origin xyz="0 0 0.033" rpy="0 ${PI} ${-PI/4}" />
<origin xyz="0 0 0.0445" rpy="0 0 0" />
</xacro:yumi_optodaq_sensor>

<!--right gripper-->
<!-- Right gripper -->
<xacro:yumi_servo_gripper name="gripper_r" hardware_interface="hardware_interface/EffortJointInterface" parent="optodaq_r_sensor_link">
<origin xyz="0 0 -0.033" rpy="${PI} 0.0 ${PI/4}" />
<origin xyz="0 0 0.0445" rpy="0 0.0 ${PI/4}" />
</xacro:yumi_servo_gripper>

<!--left gripper-->
<!-- Left gripper -->
<xacro:yumi_servo_gripper name="gripper_l" hardware_interface="hardware_interface/EffortJointInterface" parent="optodaq_l_sensor_link">
<origin xyz="0 0 -0.033" rpy="${PI} 0.0 ${PI/4}" />
<origin xyz="0 0 0.0445" rpy="0 0.0 ${PI/4}" />
</xacro:yumi_servo_gripper>


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24 changes: 11 additions & 13 deletions ridgeback_yumi_viz/rviz/robot.rviz
View file
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Original file line number Diff line number Diff line change
Expand Up @@ -7,11 +7,8 @@ Panels:
- /Global Options1
- /Status1
- /TF1/Tree1
- /WrenchStamped1
- /WrenchStamped1/Status1
- /WrenchStamped2
Splitter Ratio: 0.5
Tree Height: 719
Tree Height: 715
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
Expand Down Expand Up @@ -49,7 +46,7 @@ Visualization Manager:
Plane Cell Count: 10
Reference Frame: <Fixed Frame>
Value: true
- Alpha: 0.5
- Alpha: 0.600000024
Class: rviz/RobotModel
Collision Enabled: false
Enabled: true
Expand Down Expand Up @@ -498,24 +495,24 @@ Visualization Manager:
- Alpha: 1
Arrow Width: 0.5
Class: rviz/WrenchStamped
Enabled: true
Enabled: false
Force Arrow Scale: 2
Force Color: 204; 51; 51
History Length: 1
Name: WrenchStamped
Name: Optodaq-left
Topic: /yumi/optodaq_l
Torque Arrow Scale: 2
Torque Color: 204; 204; 51
Unreliable: false
Value: true
Value: false
- Alpha: 1
Arrow Width: 0.5
Class: rviz/WrenchStamped
Enabled: true
Force Arrow Scale: 2
Force Color: 204; 51; 51
History Length: 1
Name: WrenchStamped
Name: Optodaq-right
Topic: /yumi/optodaq_r
Torque Arrow Scale: 2
Torque Color: 204; 204; 51
Expand All @@ -524,6 +521,7 @@ Visualization Manager:
Enabled: true
Global Options:
Background Color: 48; 48; 48
Default Light: true
Fixed Frame: base_link
Frame Rate: 30
Name: root
Expand All @@ -537,7 +535,7 @@ Visualization Manager:
Views:
Current:
Class: rviz/Orbit
Distance: 4.08572197
Distance: 4.134202
Enable Stereo Rendering:
Stereo Eye Separation: 0.0599999987
Stereo Focal Distance: 1
Expand All @@ -552,18 +550,18 @@ Visualization Manager:
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.00999999978
Pitch: 0.245045334
Pitch: 0.509999752
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 6.26957512
Yaw: 0
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 1026
Hide Left Dock: false
Hide Right Dock: false
QMainWindow State: 000000ff00000000fd00000004000000000000037100000361fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003f00000361000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000361fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003f00000361000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000003efc0100000002fb0000000800540069006d00650100000000000007800000022300fffffffb0000000800540069006d00650100000000000004500000000000000000000002f40000036100000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
QMainWindow State: 000000ff00000000fd0000000400000000000001e80000035dfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006700fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007301000000430000035d000000e300fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f0000035dfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007301000000430000035d000000b300fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000077e0000003efc0100000002fb0000000800540069006d006501000000000000077e0000022300fffffffb0000000800540069006d006501000000000000045000000000000000000000047b0000035d00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
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