feat: new camera mount

maffettone · Dec 10, 2024 · 1484004 · 1484004
1 parent bd11dd2
commit 1484004
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Showing 2 changed files with 3 additions and 3 deletions.
diff --git a/src/ur3e_hande_robot_description/config/camera_mount/physical_parameters.yaml b/src/ur3e_hande_robot_description/config/camera_mount/physical_parameters.yaml
@@ -1,12 +1,12 @@
 inertia_parameters:
-  mount_base_mass: 0.1137
+  mount_base_mass: 0.0543
   camera_mass: 0.440
 
   links:
     mount_base:
       width: 0.0753
       length: 0.1127
-      height: 0.04
+      height: 0.077
 
     camera:
       width: 0.103

diff --git a/src/ur3e_hande_robot_description/urdf/camera_mount.xacro b/src/ur3e_hande_robot_description/urdf/camera_mount.xacro
@@ -94,7 +94,7 @@
   <joint name="camera_base_to_mount" type="fixed">
     <parent link="mount" />
     <child link="camera_base" />
-    <origin xyz="0. -0.09 0.0725" rpy="${pi/2} 0. 0." />
+    <origin xyz="0. -0.11 0.0725" rpy="${pi/2} 0. 0." />
   </joint> 
 
   <joint name="camera_base_to_camera_base_map" type="fixed">