From 1156c768bb48195134d2ef4a00c31b67b19256bd Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?=D0=94=D0=B0=D0=BD=D0=B8=D0=B8=D0=BB=20=D0=93=D1=80=D0=B0?=
 =?UTF-8?q?=D0=B1=D0=B0=D1=80=D1=8C?= <grabardm@ml-dev.ru>
Date: Tue, 14 Apr 2026 18:06:58 +1000
Subject: [PATCH] Refactor code structure for improved readability and
 maintainability

---
 src/iiwa_config/config/cameras/d455_top.yaml  |   28 +-
 src/iiwa_config/config/moveit/iiwa7.srdf      |   21 +-
 .../freecad_models/CameraHolder.FCStd         |  Bin 33371 -> 35222 bytes
 .../freecad_models/assymbly_camera_tool.FCStd |  Bin 0 -> 32543 bytes
 .../resource/freecad_models/cameraD455.FCStd  |  Bin 289908 -> 289958 bytes
 .../freecad_models/camera_corner.FCStd        |  Bin 0 -> 19907 bytes
 .../resource/freecad_models/kamera.stp        | 6679 -----------------
 .../resource/freecad_models/patron.FCStd      |  Bin 513426 -> 520616 bytes
 .../resource/meshes/tools/CameraHolder.dae    |    6 +-
 .../resource/meshes/tools/camera_corner.dae   |  106 +
 .../resource/meshes/tools/patron.dae          |   28 +-
 src/iiwa_description/urdf/iiwa7.urdf.xacro    |   11 +-
 src/iiwa_description/urdf/tools/patron.xacro  |  106 +-
 13 files changed, 220 insertions(+), 6765 deletions(-)
 create mode 100644 src/iiwa_description/resource/freecad_models/assymbly_camera_tool.FCStd
 create mode 100644 src/iiwa_description/resource/freecad_models/camera_corner.FCStd
 delete mode 100644 src/iiwa_description/resource/freecad_models/kamera.stp
 create mode 100644 src/iiwa_description/resource/meshes/tools/camera_corner.dae

diff --git a/src/iiwa_config/config/cameras/d455_top.yaml b/src/iiwa_config/config/cameras/d455_top.yaml
index 142b0de..55803be 100644
--- a/src/iiwa_config/config/cameras/d455_top.yaml
+++ b/src/iiwa_config/config/cameras/d455_top.yaml
@@ -6,9 +6,9 @@
 
 name: d455_top
 # Положение в сцене (x y z)
-translation: "0 0 2.49"
+translation: "0.25 0 2.49"
 # Ориентация (ось_x ось_y ось_z угол_рад)
-rotation: "0 0 1 0"
+rotation: "0 1 0 1.5708"
 
 # Блок camera
 # Если блок отсутствует — Camera-девайс не создаётся
@@ -37,16 +37,16 @@ camera:
 # Если блок отсутствует - RangeFinder-девайс не создаётся
 # Поля соответствуют документации Webots:
 # https://cyberbotics.com/doc/reference/rangefinder
-# range_finder:
-#   width: 640
-#   height: 480
-#   fieldOfView: 1.047
-#   minRange: 0.1
-#   maxRange: 5.0
-#   resolution: -1.0          # -1 = без ограничений по дискретизации
-#   noise: 0.0
+range_finder:
+  width: 640
+  height: 480
+  fieldOfView: 1.047
+  minRange: 0.1
+  maxRange: 5.0
+  resolution: -1.0          # -1 = без ограничений по дискретизации
+  noise: 0.0
 
-#   # Параметры публикации в ROS2
-#   ros:
-#     topic: /d455_top/depth/image_raw
-#     update_rate: 15
\ No newline at end of file
+  # Параметры публикации в ROS2
+  ros:
+    topic: /d455_top/depth/image_raw
+    update_rate: 15
\ No newline at end of file
diff --git a/src/iiwa_config/config/moveit/iiwa7.srdf b/src/iiwa_config/config/moveit/iiwa7.srdf
index ffae485..43a34cb 100644
--- a/src/iiwa_config/config/moveit/iiwa7.srdf
+++ b/src/iiwa_config/config/moveit/iiwa7.srdf
@@ -20,8 +20,10 @@
         <joint name="joint7"/>
         <joint name="tools_joint"/>
         <joint name="tool"/>
-        <joint name="cameraHolder_patron"/>
-        <joint name="cameraHolder_cameraD455"/>
+        <joint name="camera_holder_patron"/>
+        <joint name="camera_holder_corner"/>
+        <joint name="camera_corner_camera"/>
+        <joint name="camera_hand_to_optical"/>
     </group>
     <!--GROUP STATES: Purpose: Define a named state for a particular group, in terms of joint values. This is useful to define states like 'folded arms'-->
     <group_state name="home" group="iiwa_arm">
@@ -86,7 +88,18 @@
     <disable_collisions link1="link1" link2="camera_holder" reason="Never"/>
     <disable_collisions link1="base_link" link2="camera_holder" reason="Never"/>
     <disable_collisions link1="camera_holder" link2="patron" reason="Adjacent"/>
-    <disable_collisions link1="camera_hand" link2="camera_holder" reason="Adjacent"/>
+    <disable_collisions link1="camera_holder" link2="camera_corner" reason="Adjacent"/>
+    <disable_collisions link1="camera_corner" link2="patron" reason="Never"/>
+    <disable_collisions link1="camera_corner" link2="link7" reason="Never"/>
+    <disable_collisions link1="camera_corner" link2="link6" reason="Never"/>
+    <disable_collisions link1="camera_corner" link2="link5" reason="Never"/>
+    <disable_collisions link1="camera_corner" link2="link4" reason="Never"/>
+    <disable_collisions link1="camera_corner" link2="link3" reason="Never"/>
+    <disable_collisions link1="camera_corner" link2="link2" reason="Never"/>
+    <disable_collisions link1="camera_corner" link2="link1" reason="Never"/>
+    <disable_collisions link1="camera_corner" link2="base_link" reason="Never"/>
+    <disable_collisions link1="camera_corner" link2="camera_hand" reason="Adjacent"/>
+    <disable_collisions link1="camera_hand" link2="camera_holder" reason="Never"/>
     <disable_collisions link1="camera_hand" link2="patron" reason="Never"/>
     <disable_collisions link1="camera_hand" link2="link7" reason="Never"/>
     <disable_collisions link1="camera_hand" link2="link6" reason="Never"/>
@@ -96,4 +109,4 @@
     <disable_collisions link1="camera_hand" link2="link2" reason="Never"/>
     <disable_collisions link1="camera_hand" link2="link1" reason="Never"/>
     <disable_collisions link1="camera_hand" link2="base_link" reason="Never"/>
-</robot>
+</robot>
\ No newline at end of file
diff --git a/src/iiwa_description/resource/freecad_models/CameraHolder.FCStd b/src/iiwa_description/resource/freecad_models/CameraHolder.FCStd
index 0acfd949d106ac1bdaa02c096fa508768e9665d3..406e5e0c3734170c61726e02d741903357705472 100644
GIT binary patch
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diff --git a/src/iiwa_description/resource/freecad_models/assymbly_camera_tool.FCStd b/src/iiwa_description/resource/freecad_models/assymbly_camera_tool.FCStd
new file mode 100644
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diff --git a/src/iiwa_description/resource/freecad_models/cameraD455.FCStd b/src/iiwa_description/resource/freecad_models/cameraD455.FCStd
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diff --git a/src/iiwa_description/resource/freecad_models/kamera.stp b/src/iiwa_description/resource/freecad_models/kamera.stp
deleted file mode 100644
index c4a1dd5..0000000
--- a/src/iiwa_description/resource/freecad_models/kamera.stp
+++ /dev/null
@@ -1,6679 +0,0 @@
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diff --git a/src/iiwa_description/resource/meshes/tools/CameraHolder.dae b/src/iiwa_description/resource/meshes/tools/CameraHolder.dae
index 147bc92..02307ae 100644
--- a/src/iiwa_description/resource/meshes/tools/CameraHolder.dae
+++ b/src/iiwa_description/resource/meshes/tools/CameraHolder.dae
@@ -1,8 +1,8 @@
 <COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
   <asset>
     <contributor/>
-    <created>2026-04-10T13:27:38.363305</created>
-    <modified>2026-04-10T13:27:38.363309</modified>
+    <created>2026-04-14T16:59:02.416745</created>
+    <modified>2026-04-14T16:59:02.416750</modified>
     <unit name="meter" meter="1.0"/>
     <up_axis>Z_UP</up_axis>
   </asset>
@@ -18,7 +18,7 @@
               <color>0.0 0.0 0.0 1.0</color>
             </ambient>
             <diffuse>
-              <color>0.6941176652908325 0.572549045085907 0.6196078658103943 1.0</color>
+              <color>0.6941176652908325 0.3921568691730499 0.1725490242242813 1.0</color>
             </diffuse>
             <specular>
               <color>1 1 1 1.0</color>
diff --git a/src/iiwa_description/resource/meshes/tools/camera_corner.dae b/src/iiwa_description/resource/meshes/tools/camera_corner.dae
new file mode 100644
index 0000000..8086553
--- /dev/null
+++ b/src/iiwa_description/resource/meshes/tools/camera_corner.dae
@@ -0,0 +1,106 @@
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor/>
+    <created>2026-04-14T16:59:32.302663</created>
+    <modified>2026-04-14T16:59:32.302667</modified>
+    <unit name="meter" meter="1.0"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="effect_Part__Feature" name="effect_Part__Feature">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color>0.0 0.0 0.0 1.0</color>
+            </emission>
+            <ambient>
+              <color>0.0 0.0 0.0 1.0</color>
+            </ambient>
+            <diffuse>
+              <color>0.6941176652908325 0.3921568691730499 0.1725490242242813 1.0</color>
+            </diffuse>
+            <specular>
+              <color>1 1 1 1.0</color>
+            </specular>
+            <shininess>
+              <float>0.0</float>
+            </shininess>
+            <reflective>
+              <color>0.0 0.0 0.0 1.0</color>
+            </reflective>
+            <reflectivity>
+              <float>0.0</float>
+            </reflectivity>
+            <transparent>
+              <color>0.0 0.0 0.0 1.0</color>
+            </transparent>
+            <transparency>
+              <float>1.0</float>
+            </transparency>
+          </phong>
+        </technique>
+        <extra>
+          <technique profile="GOOGLEEARTH">
+            <double_sided>0</double_sided>
+          </technique>
+        </extra>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_geometries>
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2649 150 2650 148 2650 1450 2650 1451 2651 146 2651 1452 2651 148 2652 146 2652 1451 2652 1452 2653 144 2653 1453 2653 146 2654 144 2654 1452 2654 1453 2655 142 2655 1454 2655 144 2656 142 2656 1453 2656 1454 2657 140 2657 1455 2657 142 2658 140 2658 1454 2658 1455 2659 138 2659 1456 2659 1456 2660 138 2660 1457 2660 140 2661 138 2661 1455 2661 1457 2662 136 2662 1458 2662 138 2663 136 2663 1457 2663 1458 2664 133 2664 1459 2664 136 2665 133 2665 1458 2665 133 2666 130 2666 1459 2666 1459 2667 130 2667 1460 2667 1460 2668 127 2668 1461 2668 130 2669 127 2669 1460 2669 1461 2670 124 2670 1462 2670 127 2671 124 2671 1461 2671 1462 2672 121 2672 1463 2672 124 2673 121 2673 1462 2673 1463 2674 118 2674 1464 2674 121 2675 118 2675 1463 2675 1464 2676 115 2676 1465 2676 118 2677 115 2677 1464 2677 1465 2678 111 2678 1466 2678 115 2679 111 2679 1465 2679 1466 2680 106 2680 1467 2680 111 2681 106 2681 1466 2681 1467 2682 103 2682 1468 2682 106 2683 103 2683 1467 2683 1468 2684 100 2684 1469 2684 103 2685 100 2685 1468 2685 1469 2686 96 2686 1470 2686 100 2687 96 2687 1469 2687 1470 2688 92 2688 1471 2688 96 2689 92 2689 1470 2689 1471 2690 89 2690 1472 2690 92 2691 89 2691 1471 2691 1472 2692 84 2692 1473 2692 89 2693 84 2693 1472 2693 84 2694 81 2694 1473 2694 81 2695 1474 2695 1473 2695 81 2696 83 2696 1474 2696 83 2697 1475 2697 1474 2697 83 2698 87 2698 1475 2698 87 2699 1476 2699 1475 2699 87 2700 91 2700 1476 2700 91 2701 1477 2701 1476 2701 91 2702 95 2702 1477 2702 95 2703 1478 2703 1477 2703 95 2704 99 2704 1478 2704 99 2705 1479 2705 1478 2705 99 2706 45 2706 1479 2706 45 2707 1480 2707 1479 2707 45 2708 37 2708 1480 2708 37 2709 1481 2709 1480 2709 37 2710 36 2710 1481 2710 1481 2711 35 2711 1482 2711 36 2712 35 2712 1481 2712 1482 2713 34 2713 1483 2713 35 2714 34 2714 1482 2714 34 2715 33 2715 1483 2715 33 2716 1484 2716 1483 2716 33 2717 32 2717 1484 2717 32 2718 1485 2718 1484 2718 32 2719 31 2719 1485 2719 31 2720 1486 2720 1485 2720 31 2721 29 2721 1486 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2968 1438 2969 1058 2969 1437 2969 1437 2970 1058 2970 1057 2970 1125 2971 1124 2971 1504 2971 1124 2972 1503 2972 1504 2972 1438 2973 1059 2973 1058 2973 1124 2974 1123 2974 1503 2974 1438 2975 1439 2975 1059 2975 1439 2976 1060 2976 1059 2976 1122 2977 1502 2977 1123 2977 1123 2978 1502 2978 1503 2978 1439 2979 1440 2979 1060 2979 1060 2980 1440 2980 1061 2980 1122 2981 1501 2981 1502 2981 1121 2982 1501 2982 1122 2982 1440 2983 1441 2983 1061 2983 1061 2984 1441 2984 1062 2984 1120 2985 1500 2985 1121 2985 1121 2986 1500 2986 1501 2986 1441 2987 1442 2987 1062 2987 1062 2988 1442 2988 1063 2988 1119 2989 1499 2989 1120 2989 1120 2990 1499 2990 1500 2990 1442 2991 1443 2991 1063 2991 1063 2992 1443 2992 1064 2992 1118 2993 1498 2993 1119 2993 1119 2994 1498 2994 1499 2994 1443 2995 1444 2995 1064 2995 1064 2996 1444 2996 1065 2996 1118 2997 1497 2997 1498 2997 1117 2998 1497 2998 1118 2998 1065 2999 1445 2999 1066 2999 1444 3000 1445 3000 1065 3000 1117 3001 1496 3001 1497 3001 1116 3002 1496 3002 1117 3002 1066 3003 1446 3003 1067 3003 1445 3004 1446 3004 1066 3004 1116 3005 1495 3005 1496 3005 1115 3006 1495 3006 1116 3006 1446 3007 1447 3007 1067 3007 1067 3008 1447 3008 1068 3008 1115 3009 1494 3009 1495 3009 1114 3010 1494 3010 1115 3010 1068 3011 1448 3011 1069 3011 1447 3012 1448 3012 1068 3012 1114 3013 1493 3013 1494 3013 1113 3014 1493 3014 1114 3014 1069 3015 1449 3015 1070 3015 1448 3016 1449 3016 1069 3016 1113 3017 1492 3017 1493 3017 1112 3018 1492 3018 1113 3018 1449 3019 1450 3019 1070 3019 1070 3020 1450 3020 1071 3020 1112 3021 1491 3021 1492 3021 1111 3022 1491 3022 1112 3022 1450 3023 1451 3023 1071 3023 1071 3024 1451 3024 1072 3024 1111 3025 1490 3025 1491 3025 1110 3026 1490 3026 1111 3026 1451 3027 1452 3027 1072 3027 1072 3028 1452 3028 1073 3028 1110 3029 1489 3029 1490 3029 1109 3030 1489 3030 1110 3030 1073 3031 1453 3031 1074 3031 1452 3032 1453 3032 1073 3032 1109 3033 1488 3033 1489 3033 1108 3034 1488 3034 1109 3034 1074 3035 1454 3035 1075 3035 1453 3036 1454 3036 1074 3036 1108 3037 1487 3037 1488 3037 1107 3038 1487 3038 1108 3038 1075 3039 1455 3039 1076 3039 1454 3040 1455 3040 1075 3040 1106 3041 1486 3041 1107 3041 1107 3042 1486 3042 1487 3042 1455 3043 1456 3043 1076 3043 1076 3044 1456 3044 1077 3044 1106 3045 1485 3045 1486 3045 1105 3046 1485 3046 1106 3046 1077 3047 1457 3047 1078 3047 1456 3048 1457 3048 1077 3048 1104 3049 1484 3049 1105 3049 1105 3050 1484 3050 1485 3050 1457 3051 1458 3051 1078 3051 1078 3052 1458 3052 1079 3052 1104 3053 1483 3053 1484 3053 1103 3054 1483 3054 1104 3054 1079 3055 1459 3055 1080 3055 1458 3056 1459 3056 1079 3056 1103 3057 1482 3057 1483 3057 1102 3058 1482 3058 1103 3058 1459 3059 1460 3059 1080 3059 1080 3060 1460 3060 1081 3060 1102 3061 1481 3061 1482 3061 1101 3062 1481 3062 1102 3062 1460 3063 1461 3063 1081 3063 1081 3064 1461 3064 1082 3064 1101 3065 1480 3065 1481 3065 1100 3066 1480 3066 1101 3066 1461 3067 1462 3067 1082 3067 1082 3068 1462 3068 1083 3068 1100 3069 1479 3069 1480 3069 1099 3070 1479 3070 1100 3070 1462 3071 1463 3071 1083 3071 1083 3072 1463 3072 1084 3072 1099 3073 1478 3073 1479 3073 1098 3074 1478 3074 1099 3074 1463 3075 1464 3075 1084 3075 1084 3076 1464 3076 1085 3076 1098 3077 1477 3077 1478 3077 1097 3078 1477 3078 1098 3078 1085 3079 1465 3079 1086 3079 1464 3080 1465 3080 1085 3080 1097 3081 1476 3081 1477 3081 1096 3082 1476 3082 1097 3082 1086 3083 1466 3083 1087 3083 1465 3084 1466 3084 1086 3084 1096 3085 1475 3085 1476 3085 1095 3086 1475 3086 1096 3086 1087 3087 1467 3087 1088 3087 1466 3088 1467 3088 1087 3088 1095 3089 1474 3089 1475 3089 1094 3090 1474 3090 1095 3090 1467 3091 1468 3091 1088 3091 1088 3092 1468 3092 1089 3092 1094 3093 1473 3093 1474 3093 1093 3094 1473 3094 1094 3094 1468 3095 1469 3095 1089 3095 1089 3096 1469 3096 1090 3096 1093 3097 1472 3097 1473 3097 1092 3098 1472 3098 1093 3098 1469 3099 1470 3099 1090 3099 1090 3100 1470 3100 1091 3100 1470 3101 1471 3101 1091 3101 1092 3102 1471 3102 1472 3102 1091 3103 1471 3103 1092 3103</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_materials>
+    <material id="mat_Part__Feature" name="Part__Feature">
+      <instance_effect url="#effect_Part__Feature"/>
+    </material>
+  </library_materials>
+  <library_visual_scenes>
+    <visual_scene id="scene">
+      <node id="node0" name="node0">
+        <instance_geometry url="#geometry0">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="ref_Part__Feature" target="#mat_Part__Feature"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#scene"/>
+  </scene>
+</COLLADA>
diff --git a/src/iiwa_description/resource/meshes/tools/patron.dae b/src/iiwa_description/resource/meshes/tools/patron.dae
index 40a699e..a4ff32f 100644
--- a/src/iiwa_description/resource/meshes/tools/patron.dae
+++ b/src/iiwa_description/resource/meshes/tools/patron.dae
@@ -1,13 +1,13 @@
 <COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
   <asset>
     <contributor/>
-    <created>2026-04-10T13:27:00.463663</created>
-    <modified>2026-04-10T13:27:00.463666</modified>
+    <created>2026-04-14T17:00:07.353673</created>
+    <modified>2026-04-14T17:00:07.353677</modified>
     <unit name="meter" meter="1.0"/>
     <up_axis>Z_UP</up_axis>
   </asset>
   <library_effects>
-    <effect id="effect_Cut" name="effect_Cut">
+    <effect id="effect_Body" name="effect_Body">
       <profile_COMMON>
         <technique sid="common">
           <phong>
@@ -18,7 +18,7 @@
               <color>0.0 0.0 0.0 1.0</color>
             </ambient>
             <diffuse>
-              <color>0.2235294133424759 0.239215686917305 0.2549019753932953 1.0</color>
+              <color>0.3019607961177826 0.3019607961177826 0.3019607961177826 1.0</color>
             </diffuse>
             <specular>
               <color>1 1 1 1.0</color>
@@ -49,12 +49,12 @@
     </effect>
   </library_effects>
   <library_geometries>
-    <geometry id="geometry0" name="Patron">
+    <geometry id="geometry0" name="PatronV2">
       <mesh>
         <source id="cubeverts-array0">
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           <technique_common>
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+            <accessor count="14441" source="#cubeverts-array0-array" stride="3">
               <param type="float" name="X"/>
               <param type="float" name="Y"/>
               <param type="float" name="Z"/>
@@ -62,9 +62,9 @@
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           <technique_common>
-            <accessor count="9068" source="#cubenormals-array0-array" stride="3">
+            <accessor count="28882" source="#cubenormals-array0-array" stride="3">
               <param type="float" name="X"/>
               <param type="float" name="Y"/>
               <param type="float" name="Z"/>
@@ -74,17 +74,17 @@
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           <input semantic="POSITION" source="#cubeverts-array0"/>
         </vertices>
-        <triangles count="9068" material="ref_Cut">
+        <triangles count="28882" material="ref_Body">
           <input offset="0" semantic="VERTEX" source="#cubeverts-array0-vertices"/>
           <input offset="1" semantic="NORMAL" source="#cubenormals-array0"/>
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2205 4101 2174 4101 2158 4101 2207 4102 2159 4102 2190 4102 2207 4103 2175 4103 2159 4103 2208 4104 2176 4104 2191 4104 2209 4105 2193 4105 2177 4105 2209 4106 2177 4106 2192 4106 2210 4107 2162 4107 2193 4107 2210 4108 2178 4108 2162 4108 2211 4109 2179 4109 2194 4109 2212 4110 2164 4110 2195 4110 2212 4111 2180 4111 2164 4111 2213 4112 2181 4112 2165 4112 2213 4113 2165 4113 2196 4113 2214 4114 2166 4114 2197 4114 2214 4115 2182 4115 2166 4115 2215 4116 2183 4116 2167 4116 2215 4117 2167 4117 2198 4117 2215 4118 2199 4118 2183 4118 2216 4119 2184 4119 2168 4119 2216 4120 2168 4120 2199 4120 2217 4121 2169 4121 2200 4121 2217 4122 2185 4122 2169 4122 2217 4123 2201 4123 2185 4123 2218 4124 136 4124 139 4124 2218 4125 2186 4125 136 4125 2219 4126 2170 4126 2201 4126 2219 4127 2187 4127 2170 4127 2219 4128 2203 4128 2187 4128 2220 4129 2171 4129 2202 4129 2220 4130 2188 4130 2171 4130 2221 4131 2172 4131 2203 4131 2221 4132 2189 4132 2172 4132 2222 4133 2190 4133 2204 4133 2223 4134 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28697 14280 28697 14278 28698 14339 28698 14276 28698 14341 28699 14339 28699 14278 28699 14276 28700 14337 28700 14274 28700 14339 28701 14337 28701 14276 28701 14274 28702 14335 28702 14272 28702 14337 28703 14335 28703 14274 28703 14335 28704 14333 28704 14272 28704 14272 28705 14333 28705 14270 28705 14333 28706 14331 28706 14270 28706 14270 28707 14331 28707 14268 28707 14331 28708 14329 28708 14268 28708 14268 28709 14329 28709 14266 28709 14329 28710 14327 28710 14266 28710 14266 28711 14327 28711 14264 28711 14264 28712 14327 28712 14262 28712 14327 28713 14325 28713 14262 28713 14325 28714 14323 28714 14262 28714 14262 28715 14323 28715 14260 28715 14323 28716 14321 28716 14260 28716 14260 28717 14321 28717 14258 28717 14321 28718 14319 28718 14258 28718 14258 28719 14319 28719 14256 28719 14319 28720 14317 28720 14256 28720 14256 28721 14317 28721 14254 28721 14317 28722 14315 28722 14254 28722 14254 28723 14315 28723 14252 28723 14252 28724 14316 28724 14250 28724 14315 28725 14316 28725 14252 28725 14250 28726 14318 28726 14248 28726 14316 28727 14318 28727 14250 28727 14248 28728 14320 28728 14244 28728 14318 28729 14320 28729 14248 28729 14244 28730 14322 28730 14245 28730 14320 28731 14322 28731 14244 28731 14245 28732 14324 28732 14243 28732 14322 28733 14324 28733 14245 28733 14243 28734 14326 28734 14240 28734 14324 28735 14326 28735 14243 28735 14240 28736 14328 28736 14238 28736 14326 28737 14328 28737 14240 28737 14238 28738 14330 28738 14237 28738 14328 28739 14330 28739 14238 28739 14237 28740 14332 28740 14234 28740 14330 28741 14332 28741 14237 28741 14234 28742 14334 28742 14230 28742 14332 28743 14334 28743 14234 28743 14230 28744 14336 28744 14231 28744 14334 28745 14336 28745 14230 28745 14231 28746 14338 28746 14228 28746 14336 28747 14338 28747 14231 28747 14228 28748 14340 28748 14226 28748 14338 28749 14340 28749 14228 28749 14226 28750 14342 28750 14223 28750 14340 28751 14342 28751 14226 28751 14342 28752 14344 28752 14223 28752 14223 28753 14344 28753 14224 28753 14344 28754 14346 28754 14224 28754 14224 28755 14346 28755 14220 28755 14346 28756 14348 28756 14220 28756 14220 28757 14348 28757 14218 28757 14348 28758 14350 28758 14218 28758 14218 28759 14350 28759 14217 28759 14350 28760 14352 28760 14217 28760 14217 28761 14352 28761 14214 28761 14352 28762 14354 28762 14214 28762 14214 28763 14354 28763 14212 28763 14354 28764 14356 28764 14212 28764 14212 28765 14356 28765 14211 28765 14356 28766 14358 28766 14211 28766 14211 28767 14358 28767 14208 28767 14358 28768 14360 28768 14208 28768 14208 28769 14360 28769 14206 28769 14360 28770 14362 28770 14206 28770 14206 28771 14362 28771 14205 28771 14362 28772 14364 28772 14205 28772 14205 28773 14364 28773 14202 28773 14364 28774 14366 28774 14202 28774 14202 28775 14366 28775 14201 28775 14201 28776 14366 28776 14199 28776 14366 28777 14368 28777 14199 28777 14368 28778 14370 28778 14199 28778 14199 28779 14370 28779 14196 28779 14370 28780 14372 28780 14196 28780 14196 28781 14372 28781 14194 28781 14372 28782 14374 28782 14194 28782 14194 28783 14374 28783 14193 28783 14374 28784 14376 28784 14193 28784 14193 28785 14376 28785 14189 28785 14376 28786 14378 28786 14189 28786 14189 28787 14378 28787 14190 28787 14378 28788 14381 28788 14190 28788 14190 28789 14381 28789 14191 28789 14381 28790 14382 28790 14191 28790 14191 28791 14382 28791 14192 28791 14382 28792 14385 28792 14192 28792 14192 28793 14385 28793 14195 28793 14195 28794 14386 28794 14197 28794 14385 28795 14386 28795 14195 28795 14197 28796 14387 28796 14198 28796 14386 28797 14387 28797 14197 28797 14198 28798 14391 28798 14200 28798 14387 28799 14391 28799 14198 28799 14200 28800 14393 28800 14203 28800 14391 28801 14393 28801 14200 28801 14203 28802 14394 28802 14204 28802 14393 28803 14394 28803 14203 28803 14394 28804 14396 28804 14204 28804 14204 28805 14396 28805 14207 28805 14396 28806 14397 28806 14207 28806 14207 28807 14397 28807 14209 28807 14397 28808 14400 28808 14209 28808 14209 28809 14400 28809 14210 28809 14400 28810 14403 28810 14210 28810 14210 28811 14403 28811 14213 28811 14403 28812 14405 28812 14213 28812 14213 28813 14405 28813 14215 28813 14405 28814 14407 28814 14215 28814 14215 28815 14407 28815 14216 28815 14407 28816 14408 28816 14216 28816 14216 28817 14408 28817 14219 28817 14408 28818 14411 28818 14219 28818 14219 28819 14411 28819 14221 28819 14411 28820 14413 28820 14221 28820 14221 28821 14413 28821 14222 28821 14413 28822 14415 28822 14222 28822 14222 28823 14415 28823 14225 28823 14415 28824 14417 28824 14225 28824 14225 28825 14417 28825 14227 28825 14417 28826 14418 28826 14227 28826 14227 28827 14418 28827 14229 28827 14229 28828 14420 28828 14232 28828 14418 28829 14420 28829 14229 28829 14232 28830 14422 28830 14233 28830 14420 28831 14422 28831 14232 28831 14233 28832 14425 28832 14235 28832 14422 28833 14425 28833 14233 28833 14235 28834 14426 28834 14236 28834 14425 28835 14426 28835 14235 28835 14236 28836 14429 28836 14239 28836 14426 28837 14429 28837 14236 28837 14239 28838 14430 28838 14241 28838 14429 28839 14430 28839 14239 28839 14241 28840 14432 28840 14242 28840 14430 28841 14432 28841 14241 28841 14242 28842 14434 28842 14246 28842 14432 28843 14434 28843 14242 28843 14246 28844 14437 28844 14247 28844 14434 28845 14437 28845 14246 28845 14247 28846 14438 28846 14249 28846 14437 28847 14438 28847 14247 28847 14249 28848 14440 28848 14251 28848 14438 28849 14440 28849 14249 28849 14251 28850 14439 28850 14253 28850 14440 28851 14439 28851 14251 28851 14253 28852 14435 28852 14255 28852 14439 28853 14435 28853 14253 28853 14435 28854 14436 28854 14255 28854 14255 28855 14436 28855 14257 28855 14436 28856 14433 28856 14257 28856 14257 28857 14433 28857 14259 28857 14433 28858 14431 28858 14259 28858 14259 28859 14431 28859 14261 28859 14431 28860 14427 28860 14261 28860 14261 28861 14427 28861 14263 28861 14263 28862 14428 28862 14265 28862 14427 28863 14428 28863 14263 28863 14265 28864 14423 28864 14267 28864 14428 28865 14423 28865 14265 28865 14267 28866 14424 28866 14269 28866 14423 28867 14424 28867 14267 28867 14269 28868 14421 28868 14271 28868 14424 28869 14421 28869 14269 28869 14271 28870 14419 28870 14273 28870 14421 28871 14419 28871 14271 28871 14273 28872 14416 28872 14275 28872 14419 28873 14416 28873 14273 28873 14275 28874 14414 28874 14277 28874 14416 28875 14414 28875 14275 28875 14277 28876 14412 28876 14279 28876 14414 28877 14412 28877 14277 28877 14279 28878 14410 28878 14281 28878 14412 28879 14410 28879 14279 28879 14281 28880 14409 28880 14283 28880 14410 28881 14409 28881 14281 28881</p>
         </triangles>
       </mesh>
     </geometry>
   </library_geometries>
   <library_materials>
-    <material id="mat_Cut" name="Cut">
-      <instance_effect url="#effect_Cut"/>
+    <material id="mat_Body" name="Body">
+      <instance_effect url="#effect_Body"/>
     </material>
   </library_materials>
   <library_visual_scenes>
@@ -93,7 +93,7 @@
         <instance_geometry url="#geometry0">
           <bind_material>
             <technique_common>
-              <instance_material symbol="ref_Cut" target="#mat_Cut"/>
+              <instance_material symbol="ref_Body" target="#mat_Body"/>
             </technique_common>
           </bind_material>
         </instance_geometry>
diff --git a/src/iiwa_description/urdf/iiwa7.urdf.xacro b/src/iiwa_description/urdf/iiwa7.urdf.xacro
index cefddf7..c931eeb 100644
--- a/src/iiwa_description/urdf/iiwa7.urdf.xacro
+++ b/src/iiwa_description/urdf/iiwa7.urdf.xacro
@@ -16,7 +16,7 @@
     <xacro:include filename="$(find iiwa_description)/urdf/links.xacro"/>
     <xacro:include filename="$(find iiwa_description)/urdf/joints.xacro"/>
 
-    <xacro:include filename="$(find iiwa_description)/urdf/tools/patron.xacro"/>
+    <xacro:include filename="$(find iiwa_description)/urdf/tools/patronv2.xacro"/>
 
     <xacro:if value="$(arg simulate)">
 
@@ -32,15 +32,6 @@
                 </ros>
             </device>
 
-            <device reference="example_camera" type="Camera">
-                <ros>
-                    <topicName>/camera_example/color</topicName>
-                    <updateRate>30</updateRate>
-                    <alwaysOn>True</alwaysOn>
-                    <frameName>example_camera</frameName>
-                </ros>
-            </device>
-
             <device reference="camera_depth" type="RangeFinder">
                 <ros>
                     <topicName>/camera/depth</topicName>
diff --git a/src/iiwa_description/urdf/tools/patron.xacro b/src/iiwa_description/urdf/tools/patron.xacro
index d49a1a6..1136f8e 100644
--- a/src/iiwa_description/urdf/tools/patron.xacro
+++ b/src/iiwa_description/urdf/tools/patron.xacro
@@ -4,15 +4,14 @@
     <link name="camera_holder">
         <inertial>
             <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
-            <mass value="0.09"/>
-            <inertia ixx="0.0" ixy="0.0" ixz="0.0" 
-                     iyy="0.0" iyz="0.0" izz="0.0"/>
+            <mass value="0.15"/>
+            <inertia ixx="0.000073" ixy="0.0" ixz="0.0"
+                     iyy="0.000136" iyz="0.0" izz="0.000186"/>
         </inertial>
         <visual name="">
             <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
             <geometry>
-                <!-- <mesh filename="/home/daniel/dev/kuka_iiwa7_ros2/src/iiwa_description/resource/meshes/tools/CameraHolder.dae" /> -->
-                <mesh filename="package://iiwa_description/resource/meshes/tools/CameraHolder.dae"/>
+                <mesh filename="package://iiwa_description/resource/meshes/tools/CameraHolder.dae" />
             </geometry>
         </visual>
         <collision>
@@ -29,39 +28,17 @@
         </collision>
     </link>
 
-    <link name="camera_hand">
-        <inertial>
-            <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
-            <mass value="0.0"/>
-            <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
-        </inertial>
-        <visual>
-            <origin xyz="-0.06 0.0 0.0" rpy="0.0 0.0 0.0"/>
-            <geometry>
-                <!-- <mesh filename="/home/daniel/dev/kuka_iiwa7_ros2/src/iiwa_description/resource/meshes/tools/cameraD455.dae" /> -->
-                <mesh filename="package://iiwa_description/resource/meshes/tools/cameraD455.dae"/>
-            </geometry>
-        </visual>
-        <collision>
-            <origin xyz="0.0 0.014 0.0125" rpy="0.0 0.0 0.0"/>
-            <geometry>
-                <box size="0.12 0.025 0.025"/>
-            </geometry>
-        </collision>
-    </link>
-
     <link name="patron">
         <inertial>
             <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
-            <mass value="0.03"/>
-            <inertia ixx="0.0" ixy="0.0" ixz="0.0" 
-            iyy="0.0" iyz="0.0" izz="0.0"/>
+            <mass value="0.35"/>
+            <inertia ixx="0.000127" ixy="0.0" ixz="0.0"
+                     iyy="0.000127" iyz="0.0" izz="0.000077"/>
         </inertial>
         <visual name="">
             <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
             <geometry>
-                <!-- <mesh filename="/home/daniel/dev/kuka_iiwa7_ros2/src/iiwa_description/resource/meshes/tools/patron.dae" /> -->
-                <mesh filename="package://iiwa_description/resource/meshes/tools/patron.dae"/>
+                <mesh filename="package://iiwa_description/resource/meshes/tools/patron.dae" />
             </geometry>
         </visual>
         <collision>
@@ -72,36 +49,84 @@
         </collision>
     </link>
 
+    <link name="camera_corner">
+        <inertial>
+            <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
+            <mass value="0.1"/>
+            <inertia ixx="0.0000094" ixy="0.0" ixz="0.0"
+                     iyy="0.000131"  iyz="0.0" izz="0.000135"/>
+        </inertial>
+        <visual name="">
+            <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
+            <geometry>
+                <mesh filename="package://iiwa_description/resource/meshes/tools/camera_corner.dae" />
+            </geometry>
+        </visual>
+        <collision>
+            <origin xyz="0 0.116 0.022" rpy="0.0 0.0 0.0"/>
+            <geometry>
+                <box size="0.124 0.029 0.017"/>
+            </geometry>
+        </collision>
+    </link>
+
+    <link name="camera_hand">
+        <inertial>
+            <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
+            <mass value="0.2"/>
+            <inertia ixx="0.000021" ixy="0.0" ixz="0.0"
+                     iyy="0.000250" iyz="0.0" izz="0.000250"/>
+        </inertial>
+        <visual>
+            <origin xyz="-0.06 0.0 0.0" rpy="0.0 0.0 0.0"/>
+            <geometry>
+                <mesh filename="package://iiwa_description/resource/meshes/tools/cameraD455.dae" />
+            </geometry>
+        </visual>
+        <collision>
+            <origin xyz="0.0 0.014 0.0125" rpy="0.0 0.0 0.0"/>
+            <geometry>
+                <box size="0.12 0.025 0.025"/>
+            </geometry>
+        </collision>
+    </link>
+
+    <link name="camera_optical_frame"/>
+
     <joint name="tool" type="fixed">
         <parent link="link_ee"/>
         <child link="camera_holder"/>
         <origin xyz="0 0 0" rpy="0 0 1.5708"/>
     </joint>
 
-    <joint name="cameraHolder_patron" type="fixed">
-        <origin xyz="0.0 0.0 0.03" rpy="0.0 0.0 0.0"/>
+    <joint name="camera_holder_patron" type="fixed">
+        <origin xyz="0.0 0.0 0.032" rpy="0.0 0.0 0.0"/>
         <parent link="camera_holder"/>
         <child link="patron"/>
     </joint>
 
-    <joint name="cameraHolder_cameraD455" type="fixed">
-        <origin xyz="0.0 0.1 0.014" rpy="0.0 0.0 0.0"/>
+    <joint name="camera_holder_corner" type="fixed">
+        <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
         <parent link="camera_holder"/>
+        <child link="camera_corner"/>
+    </joint>
+
+    <joint name="camera_corner_camera" type="fixed">
+        <origin xyz="0.0 0.1 0.014" rpy="0.61 0.0 0.0"/>
+        <parent link="camera_corner"/>
         <child link="camera_hand"/>
     </joint>
 
-    <link name="camera_optical_frame"/>
     <joint name="camera_hand_to_optical" type="fixed">
-        <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 3.14159"/>
+        <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
         <parent link="camera_hand"/>
         <child link="camera_optical_frame"/>
     </joint>
 
     <gazebo reference="camera_optical_frame">
-
         <sensor type="camera" name="camera_rgb">
             <camera>
-                <horizontal_fov>1.5708</horizontal_fov>
+                <horizontal_fov>1.3089969</horizontal_fov>
                 <image>
                     <width>640</width>
                     <height>480</height>
@@ -120,7 +145,7 @@
 
         <sensor type="depth" name="camera_depth">
             <camera>
-                <horizontal_fov>1.5184</horizontal_fov>
+                <horizontal_fov>1.3089969</horizontal_fov>
                 <image>
                     <width>640</width>
                     <height>480</height>
@@ -140,7 +165,6 @@
                 <stddev>0.02</stddev>
             </noise>
         </sensor>
-
     </gazebo> 
 
 </robot>
\ No newline at end of file