Merge pull request #171 from ethz-asl/feature/bota_flag_new_calib

Feature/bota flag new calib

moma_bringup/launch/panda_real.launch

@@ -7,7 +7,8 @@
   <arg name="arm_id" default="panda" />
   <arg name="controller" default="effort_joint_trajectory_controller" />
   <arg name="table" default="true" />
-
+  <arg name="use_bota" default="false" />
+
   <!-- If we don't do moveit, start the interactive markers. -->
   <arg name="interactive_marker"
     default="$(eval arg('controller') == 'cartesian_impedance_example_controller')"
@@ -17,7 +18,7 @@
   <include file="$(find moma_bringup)/launch/components/franka_control.launch">
     <arg name="robot_ip" value="$(arg robot_ip)" />
     <arg name="xacro_args"
-      value="use_fixed_camera:=false use_wrist_camera:=true publish_realsense_extrinsics:=false" />
+      value="use_fixed_camera:=false use_wrist_camera:=true publish_realsense_extrinsics:=false use_bota:=$(arg use_bota)" />
   </include>
 
   <!-- Controller settings. -->

moma_description/urdf/panda_arm.xacro

@@ -13,8 +13,8 @@
         hand:=true
         gazebo:=false
         use_wrist_camera:=false
-        wrist_calibration_rpy:='-1.117916 -1.5611535 -2.8045692'
-        wrist_calibration_xyz:='0.03062033586096833 -0.025020246008959142 0.10095534939725603'
+        wrist_calibration_rpy:='-0.0109077 -1.5469874 2.3727493'
+        wrist_calibration_xyz:='0.02144228129647578 -0.028987519327164604 0.04877543953719046'
         wrist_camera_parent_link:='panda_link8'
         use_fixed_camera:=false
         fixed_calibration_rpy:='-0.1566281 1.3870703 2.9725147'