Corrected camera position and added a zero dimension visual box

upkie · Jul 31, 2024 · 5862225 · 5862225
1 parent 43da803
commit 5862225
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Showing 2 changed files with 19 additions and 7 deletions.
diff --git a/urdf/upkie_camera.urdf b/urdf/upkie_camera.urdf
@@ -169,9 +169,15 @@ Conventions in this file are detailed in:
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
     </inertial>
+    <visual>
+      <geometry>
+        <box size="0 0 0"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
   </link>
   <joint name="camera_eye_fix" type="fixed">
-    <origin rpy="0 0 0" xyz="-0.045 0 0.005"/>
+    <origin rpy="0 0 0" xyz="0.00875 0 0.005"/>
     <parent link="camera"/>
     <child link="camera_eye"/>
   </joint>

diff --git a/xacro/torso.xacro b/xacro/torso.xacro
@@ -127,12 +127,18 @@
     </joint>
     <link name="camera_eye">
         <xacro:virtual_link_inertia />
-    </link>
-    <joint name="camera_eye_fix" type="fixed">
-        <origin rpy="0 0 0" xyz="-0.045 0 0.005"/>
-        <parent link="camera"/>
-        <child link="camera_eye"/>
-    </joint>
+    <visual>
+      <geometry>
+        <box size="0 0 0"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+  </link>
+  <joint name="camera_eye_fix" type="fixed">
+    <origin rpy="0 0 0" xyz="0.00875 0 0.005"/>
+    <parent link="camera"/>
+    <child link="camera_eye"/>
+  </joint>
         </xacro:if>
 
         <xacro:if value="${with_handle}">