Merge pull request #19 from Tordjx/main

Added camera_eye virtual frame

CHANGELOG.md

@@ -18,7 +18,7 @@ All notable changes to this project will be documented in this file.
 - Camera variant of the URDF
 - python: Add "variant" keyword argument to `load_in_pinocchio`
 - Added camera support mass and camera to the "camera" variant
-
+- Added camera eye to the "camera" variant
 ### Changed
 
 - **Breaking:** Uppercase paths in Python for consistency with `robot_descriptions.py`

urdf/upkie_camera.urdf

@@ -161,6 +161,26 @@ Conventions in this file are detailed in:
     <parent link="camera_support"/>
     <child link="camera"/>
   </joint>
+  <link name="camera_eye">
+    <!-- virtual link -->
+    <inertial>
+      <!-- mass should not be zero [1] -->
+      <mass value="0.001"/>
+      <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="0.00875 0 0.005"/>
+    <parent link="camera"/>
+    <child link="camera_eye"/>
+  </joint>
   <!-- Left leg -->
   <!-- Left hip -->
   <link name="left_hip_qdd100_stator">

xacro/torso.xacro

@@ -119,11 +119,25 @@
                     rpy="0 0 0" xyz="0 0 0"
                     mass="0.061"
                     len_x="0.0175" len_y="0.091" len_z="0.028" />
+            </link>
+	    <joint name="camera_fix" type="fixed">
+	        <origin rpy="0 0 0" xyz="0.045 0 0"/>
+	        <parent link="camera_support"/>
+	        <child link="camera"/>
+	    </joint>
+	    <link name="camera_eye">
+	        <xacro:virtual_link_inertia />
+	    <visual>
+	      <geometry>
+	        <box size="0 0 0"/>
+	      </geometry>
+	      <material name="black"/>
+	    </visual>
 	  </link>
-	  <joint name="camera_fix" type="fixed">
-	    <origin rpy="0 0 0" xyz="0.045 0 0"/>
-	    <parent link="camera_support"/>
-	    <child link="camera"/>
+	  <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>