Merge branch 'urdf_front_cam'

abizovnuralem · Mar 13, 2024 · ceebe54 · ceebe54
2 parents 176f827 + 79641c3
commit ceebe54
Showing 1 changed file with 23 additions and 0 deletions.
diff --git a/go2_robot_sdk/urdf/go2.urdf b/go2_robot_sdk/urdf/go2.urdf
@@ -108,6 +108,29 @@ Stephen Brawner (brawner@gmail.com)
     <axis
       xyz="0 0 0" />
   </joint>
+  <link name="front_camera">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.01" length="0.01" />
+      </geometry>
+      <material name="camera_color">
+        <color rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.05" length="0.09" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="front_camera_joint" type="fixed">
+    <origin xyz="0.045 0 0.03" rpy="-1.5708 0 -1.5708" />
+    <parent link="Head_upper" />
+    <child link="front_camera" />
+    <axis xyz="0 0 0" />
+  </joint>  
   <link
     name="Head_lower">
     <inertial>