Update Zivid camera mount and MoveIt configs with calibration data#80
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bondada-a merged 1 commit intoNSLS2:humblefrom Mar 10, 2026
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- Rewrite zivid_camera_mount.xacro with direct hand-eye calibration frame chain (tool0 -> zivid_optical_frame) instead of zivid_camera macro - Add hand_eye_calibration.yaml and zivid_onarm_mount.stl mesh - Fix initial_positions_file path in all 4 xacro files to reference correct MoveIt config package instead of ur_description - Fix camera mount rpy (pi rotation now in calibrated optical frame) - Enable acceleration limits in joint_limits.yaml (all 4 configs) - Set real robot joint positions in initial_positions.yaml - Add Pilz industrial motion planner config and pipeline - Update wrist_3_joint home to -pi in ur.srdf - Add goal_bias to OMPL config (epick, hande) - Set use_tool_communication=false for epick (launched separately)
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Summary
Follow-up to #79 (UR5e MoveIt config updates). Updates the Zivid camera mount description and all MoveIt configs with real-world calibration data and motion planning improvements.
ur5e_robot_description
zivid_camera_mount.xacrowith direct hand-eye calibration frame chain (tool0→zivid_optical_frame) instead of using thezivid_cameramacro. The calibrated transform gives accurate point cloud positioning (residuals: rot < 0.22°, trans < 0.47mm).hand_eye_calibration.yaml(raw 4×4 calibration matrix)zivid_onarm_mount.stlmesh for the on-arm camera mountinitial_positions_filepath in all 4 xacro files to reference the correct MoveIt config package instead ofur_descriptionrpy— the π rotation is now handled in the calibrated optical frameAll 4 MoveIt configs (standalone, epick, hande, pipettor)
has_acceleration_limits: true,max_acceleration: 5.0 rad/s²) injoint_limits.yaml— required for Pilz plannerinitial_positions.yamlpilz_industrial_motion_planner_planning.yamlfor Pilz PTP/LIN/CIRC motionswrist_3_jointhome position to-πinur.srdfgoal_bias: 0.15to OMPL RRTConnect config for more direct pathsepick only
use_tool_communication: false— tool communication node is launched separately with delay