From 4d9d7adeed2ca232c9be5e972704cab325cf90de Mon Sep 17 00:00:00 2001
From: Atsushi Kuwagata <kuwagata@rt-net.jp>
Date: Mon, 2 Dec 2024 18:18:25 +0900
Subject: [PATCH] =?UTF-8?q?=E3=82=AB=E3=83=A1=E3=83=A9=E3=82=B9=E3=82=BF?=
 =?UTF-8?q?=E3=83=B3=E3=83=89=E3=81=AEURDF=E4=BF=AE=E6=AD=A3?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 crane_plus_description/urdf/camera.urdf.xacro | 11 ++++--
 .../urdf/camera_stand.urdf.xacro              | 34 +++++++++----------
 .../config/crane_plus.srdf                    |  6 ----
 3 files changed, 26 insertions(+), 25 deletions(-)

diff --git a/crane_plus_description/urdf/camera.urdf.xacro b/crane_plus_description/urdf/camera.urdf.xacro
index 22c075e..1fd58bd 100644
--- a/crane_plus_description/urdf/camera.urdf.xacro
+++ b/crane_plus_description/urdf/camera.urdf.xacro
@@ -7,16 +7,23 @@
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <box size="0.05 0.05 0.05" />
+          <box size="0.03 0.08 0.05" />
         </geometry>
         <material name="black">
           <color rgba="0.2 0.2 0.2 1.0"/>
         </material>
       </visual>
+
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <box size="0.03 0.08 0.05" />
+        </geometry>
+      </collision>
     </link>
 
     <joint name="camera_joint" type="fixed">
-      <origin xyz="0.103 0.1025 0.46" rpy="0 0 0" />
+      <origin xyz="0.10626 0.10253 0.46" rpy="0 0 0" />
       <parent link="${parent}" />
       <child link="camera_link" />
     </joint>
diff --git a/crane_plus_description/urdf/camera_stand.urdf.xacro b/crane_plus_description/urdf/camera_stand.urdf.xacro
index f1910f5..e4db139 100644
--- a/crane_plus_description/urdf/camera_stand.urdf.xacro
+++ b/crane_plus_description/urdf/camera_stand.urdf.xacro
@@ -7,7 +7,7 @@
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <box size="0.02 0.02 0.285" />
+          <box size="0.02 0.285 0.02" />
         </geometry>
         <material name="grey">
           <color rgba="0.8 0.8 0.8 1.0" />
@@ -17,13 +17,13 @@
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <box size="0.02 0.02 0.285" />
+          <box size="0.02 0.285 0.02" />
         </geometry>
       </collision>
     </link>
 
     <joint name="camera_stand_joint1" type="fixed">
-      <origin xyz="-0.05 0.08 0.01" rpy="${radians(90)} 0 0" />
+      <origin xyz="-0.052 0.08 0.01" rpy="0 0 0" />
       <parent link="${parent}" />
       <child link="camera_stand_p1" />
     </joint>
@@ -48,8 +48,8 @@
     </link>
 
     <joint name="camera_stand_joint2" type="fixed">
-      <origin xyz="-0.05 0.1025 0.24" rpy="0 0 0" />
-      <parent link="${parent}" />
+      <origin xyz="0 0.02253 0.23" rpy="0 0 0" />
+      <parent link="camera_stand_p1" />
       <child link="camera_stand_p2" />
     </joint>
 
@@ -57,7 +57,7 @@
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <box size="0.02 0.02 0.13" />
+          <box size="0.13 0.02 0.02" />
         </geometry>
         <material name="grey">
           <color rgba="0.8 0.8 0.8 1.0" />
@@ -67,14 +67,14 @@
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <box size="0.02 0.02 0.13" />
+          <box size="0.129 0.02 0.02" />
         </geometry>
       </collision>
     </link>
 
     <joint name="camera_stand_joint3" type="fixed">
-      <origin xyz="0.02 0.1025 0.45" rpy="0 ${radians(90)} 0" />
-      <parent link="${parent}" />
+      <origin xyz="0.075 0 0.21" rpy="0 0 0" />
+      <parent link="camera_stand_p2" />
       <child link="camera_stand_p3" />
     </joint>
 
@@ -82,7 +82,7 @@
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <box size="0.02 0.02 0.05" />
+          <box size="0.055 0.02 0.02" />
         </geometry>
         <material name="grey">
           <color rgba="0.8 0.8 0.8 1.0" />
@@ -92,14 +92,14 @@
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <box size="0.02 0.02 0.05" />
+          <box size="0.054 0.019 0.02" />
         </geometry>
       </collision>
     </link>
 
     <joint name="camera_stand_joint4" type="fixed">
-      <origin xyz="-0.015 -0.0525 0.01" rpy="0 ${radians(90)} 0" />
-      <parent link="${parent}" />
+      <origin xyz="0.0375 -0.1325 0" rpy="0 0 0" />
+      <parent link="camera_stand_p1" />
       <child link="camera_stand_p4" />
     </joint>
 
@@ -107,7 +107,7 @@
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <box size="0.02 0.02 0.05" />
+          <box size="0.055 0.02 0.02" />
         </geometry>
         <material name="grey">
           <color rgba="0.8 0.8 0.8 1.0" />
@@ -117,14 +117,14 @@
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <box size="0.02 0.02 0.05" />
+          <box size="0.054 0.02 0.02" />
         </geometry>
       </collision>
     </link>
 
     <joint name="camera_stand_joint5" type="fixed">
-      <origin xyz="-0.015 0.2125 0.01" rpy="0 ${radians(90)} 0" />
-      <parent link="${parent}" />
+      <origin xyz="0.0375 0.1325 0" rpy="0 0 0" />
+      <parent link="camera_stand_p1" />
       <child link="camera_stand_p5" />
     </joint>
 
diff --git a/crane_plus_moveit_config/config/crane_plus.srdf b/crane_plus_moveit_config/config/crane_plus.srdf
index 882b451..7e3685c 100644
--- a/crane_plus_moveit_config/config/crane_plus.srdf
+++ b/crane_plus_moveit_config/config/crane_plus.srdf
@@ -39,11 +39,5 @@
     <disable_collisions link1="crane_plus_link2" link2="crane_plus_link3" reason="Adjacent" />
     <disable_collisions link1="crane_plus_link3" link2="crane_plus_link4" reason="Adjacent" />
     <disable_collisions link1="crane_plus_link4" link2="crane_plus_link_hand" reason="Adjacent" />
-    <disable_collisions link1="crane_plus_base" link2="camera_stand_p1" reason="Adjacent" />
-    <disable_collisions link1="crane_plus_base" link2="camera_stand_p4" reason="Adjacent" />
-    <disable_collisions link1="camera_stand_p1" link2="camera_stand_p2" reason="Adjacent" />
-    <disable_collisions link1="camera_stand_p1" link2="camera_stand_p4" reason="Adjacent" />
-    <disable_collisions link1="camera_stand_p1" link2="camera_stand_p5" reason="Adjacent" />
-    <disable_collisions link1="camera_stand_p2" link2="camera_stand_p3" reason="Adjacent" />
 
 </robot>