From 79641c3c7dba6077e085fb190bb76d41c8edf3f0 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?F=C3=B6ldi=20Tam=C3=A1s?= <tfoldi@xsi.hu>
Date: Sat, 2 Mar 2024 20:19:33 +0100
Subject: [PATCH] feat: add front cam to the model

---
 go2_robot_sdk/urdf/go2.urdf | 23 +++++++++++++++++++++++
 1 file changed, 23 insertions(+)

diff --git a/go2_robot_sdk/urdf/go2.urdf b/go2_robot_sdk/urdf/go2.urdf
index ac8a0e1..c69ca1a 100644
--- a/go2_robot_sdk/urdf/go2.urdf
+++ b/go2_robot_sdk/urdf/go2.urdf
@@ -80,6 +80,29 @@ 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>