Merge pull request #18 from Tordjx/main

Added camera to the "camera variant"
upkie · Jul 29, 2024 · fe66055 · fe66055
2 parents 828ee6c + f8f1678
commit fe66055
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Showing 3 changed files with 53 additions and 4 deletions.
diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -16,6 +16,7 @@ All notable changes to this project will be documented in this file.
 - CICD: Add packaging workflow
 - Camera variant of the URDF
 - python: Add "variant" keyword argument to `load_in_pinocchio`
+- Added camera support mass and camera to the "camera" variant
 
 ### Changed
 

diff --git a/urdf/upkie_camera.urdf b/urdf/upkie_camera.urdf
@@ -128,15 +128,39 @@ Conventions in this file are detailed in:
     </collision>
     <inertial>
       <origin rpy="0 0 0" xyz="0 0 0"/>
-      <mass value="1.0"/>
-      <inertia ixx="0.0005416666666666668" ixy="0" ixz="0" iyy="0.0013333333333333333" iyz="0" izz="0.0016083333333333334"/>
+      <mass value="0.167"/>
+      <inertia ixx="9.045833333333334e-05" ixy="0" ixz="0" iyy="0.0002226666666666667" iyz="0" izz="0.0002685916666666667"/>
     </inertial>
   </link>
   <joint name="camera_support_fix" type="fixed">
     <origin rpy="0 0 0" xyz="0 0 0.16"/>
     <parent link="torso"/>
     <child link="camera_support"/>
   </joint>
+  <link name="camera">
+    <visual>
+      <geometry>
+        <box size="0.0175 0.091 0.028"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.0175 0.091 0.028"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.061"/>
+      <inertia ixx="4.6080416666666663e-05" ixy="0" ixz="0" iyy="5.542104166666667e-06" iyz="0" izz="4.3651854166666664e-05"/>
+    </inertial>
+  </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>
   <!-- Left leg -->
   <!-- Left hip -->
   <link name="left_hip_qdd100_stator">

diff --git a/xacro/torso.xacro b/xacro/torso.xacro
@@ -89,10 +89,10 @@
                         <box size="0.11 0.12 0.07" />
                     </geometry>
                 </collision>
-                <!-- mass NOT MEASURED YET -->
+                <!-- mass measured with USB cable -->
                 <xacro:box_inertia
                     rpy="0 0 0" xyz="0 0 0"
-                    mass="1.0"
+                    mass="0.167"
                     len_x="0.120" len_y="0.07" len_z="0.04" />
             </link>
 
@@ -101,6 +101,30 @@
                 <parent link="torso" />
                 <child link="camera_support" />
             </joint>
+
+            <link name="camera">
+	    <visual>
+	      <geometry>
+		<box size="0.0175 0.091 0.028"/> 
+	      </geometry>
+	      <material name="black"/>
+	    </visual>
+	    <collision>
+	      <origin rpy="0 0 0" xyz="0 0 0"/>
+	      <geometry>
+		<box size="0.0175 0.091 0.028"/> 
+	      </geometry>
+	    </collision>
+	      <xacro:box_inertia
+                    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>
         </xacro:if>
 
         <xacro:if value="${with_handle}">