Merge pull request #208 from Kinovarobotics/vision_6dof_frame_descrip…

…tion Vision 6dof frame description
Kinovarobotics · Jan 4, 2022 · fa072f1 · fa072f1
2 parents 0372336 + 9d789db
commit fa072f1
Showing 1 changed file with 20 additions and 0 deletions.
diff --git a/kortex_description/arms/gen3/6dof/urdf/gen3_macro.xacro b/kortex_description/arms/gen3/6dof/urdf/gen3_macro.xacro
@@ -240,5 +240,25 @@
       <axis
         xyz="0 0 0" />
     </joint>
+    <xacro:if value="${vision}">
+      <link name="${prefix}camera_link" />
+      <joint name="${prefix}camera_module" type="fixed">
+        <origin xyz="0 0.05639 -0.00305" rpy="3.14159265358979 3.14159265358979 0" />
+        <parent link="${prefix}end_effector_link" />
+        <child  link="${prefix}camera_link" />
+      </joint>
+      <link name="${prefix}camera_depth_frame" />
+      <joint name="${prefix}depth_module" type="fixed">
+        <origin xyz="0.0275 0.066 -0.00305" rpy="3.14159265358979 3.14159265358979 0" />
+        <parent link="${prefix}end_effector_link" />
+        <child  link="${prefix}camera_depth_frame" />
+      </joint>
+      <link name="${prefix}camera_color_frame" />
+      <joint name="${prefix}color_module" type="fixed">
+        <origin xyz="0 0.05639 -0.00305" rpy="3.14159265358979 3.14159265358979 0" />
+        <parent link="${prefix}end_effector_link" />
+        <child  link="${prefix}camera_color_frame" />
+      </joint>
+    </xacro:if>
   </xacro:macro>
 </robot>