From d21a4b873856de32713d095ac0633297ef9f1e91 Mon Sep 17 00:00:00 2001
From: Sergi Hernandez Juan <shernand@iri.upc.edu>
Date: Mon, 22 Jul 2024 13:22:19 +0200
Subject: [PATCH] Added the STL for the innodisk camera.

---
 meshes/low_res_uvc_camera_innodisk.stl | Bin 0 -> 116384 bytes
 urdf/uvc_camera.xacro                  |   2 +-
 2 files changed, 1 insertion(+), 1 deletion(-)
 create mode 100644 meshes/low_res_uvc_camera_innodisk.stl

diff --git a/meshes/low_res_uvc_camera_innodisk.stl b/meshes/low_res_uvc_camera_innodisk.stl
new file mode 100644
index 0000000000000000000000000000000000000000..b3355a37720e1ce00ddc00f2db3df24640c6e674
GIT binary patch
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literal 0
HcmV?d00001

diff --git a/urdf/uvc_camera.xacro b/urdf/uvc_camera.xacro
index 94143db..5bc197f 100644
--- a/urdf/uvc_camera.xacro
+++ b/urdf/uvc_camera.xacro
@@ -15,7 +15,7 @@
                  izz="0.00001824" />
       </inertial>
       <visual>
-        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <origin xyz="-0.022 0 0" rpy="0 0 0"/>
         <geometry>
           <mesh filename="package://iri_uvc_camera_description/meshes/${resolution}_uvc_camera_${model}.stl" />
         </geometry>
-- 
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