Following are the color conventions used with Rviz2
- Red - X axis
- Green - Y axis
- Blue - Z axis
Following transformations are the main standard and custom tf defined in this system to attache the subcomponents together. These are in ["x", "y", "z", "qx", "qy", "qz", "qw"] format.
This is last tf of the ur10 robot. This shows Z axis outwards, X axis downwards.
This is the inner surface of the camera mount facing the ur10 tool mount and is a child of tool0.
tool0 -> camera_mount_link transformation is, [0, 0, 0.008, 0, 0, 0, 1]
This is the base of the gripper and is a child of camera_mount_link as it is mounted on the camera mount.
camera_mount_link -> gripper_root transformation is, [0, 0, 0.008, 0, 0, 0, 1]
This is the clamp of the gripper and is a child of gripper_root.
gripper_root -> gripper_clamp transformation is, [0, 0, 0, 0, 0, -0.707108, 0.707105]
This is the point on the gripper where the object is grasped and is a child of gripper_root.
gripper_root -> tcp transformation is, [0, 0, 0.205, 0, 0, 0, 1]
This is the end point of the gripper and is a child of gripper_root.
gripper_root -> tool_tip transformation is, [0, 0, 0.25, 0, 0, 0, 1]
