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Referring to the attached figure, How can I change the camera orientation so that the beer can will be visible when placed to the front of the robot?

Referring to the attached figure, How can I change the camera orientation so that the beer can will be visible when placed to the front of the robot?

<visual>
  <origin xyz="0 ${camera_link + axel_offset} 0" rpy="0 0 0"/>
  <geometry>
<box size="${camera_link} ${camera_link} ${camera_link}"/>
  </geometry>
  <material name="red"/>
</visual>

<inertial>
  <mass value="1e-5" />
  <origin xyz="0 ${camera_link + axel_offset} 0" rpy="0 0 0"/>
  <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6" />
</inertial>

Referring to the attached figure, How can I change the camera orientation so that the beer can will be visible when placed to the front of the robot?

I have fixed the orientation by acting on the camera_joint rpy, as shown in the following:

 <joint name="camera_joint" type="fixed">
 <origin xyz="${2*camera_link} ${height + 2*axel_offset} 0" rpy="0 0 1.57"/>
 <parent link="link4"/>
 <child link="camera_link"/>
 

<visual>
  <origin xyz="0 ${camera_link + axel_offset} 0" rpy="0 0 0"/>
  <geometry>
<box size="${camera_link} ${camera_link} ${camera_link}"/>
  </geometry>
  <material name="red"/>
</visual>

<inertial>
  <mass value="1e-5" />
  <origin xyz="0 ${camera_link + axel_offset} 0" rpy="0 0 0"/>
  <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6" />
</inertial>

Referring to the attached figure, How can I change the camera orientation so that the beer can will be visible when placed to the front of the robot?

I have fixed the orientation by acting on the camera_joint rpy, as shown in the following:

  <joint name="camera_joint" type="fixed">
<origin xyz="${2*camera_link} ${height + 2*axel_offset} 0" rpy="0 0 1.57"/>
<parent link="link4"/>
<child link="camera_link"/>
  </joint>

<link name="camera_link"> <collision> <origin xyz="0 ${camera_link + axel_offset} 0" rpy="0 0 0"/> <geometry> <box size="${camera_link} ${camera_link} ${camera_link}"/> </geometry> </collision>

<visual>
  <origin xyz="0 ${camera_link + axel_offset} 0" rpy="0 0 0"/>
  <geometry>
<box size="${camera_link} ${camera_link} ${camera_link}"/>
  </geometry>
  <material name="red"/>
</visual>

<inertial>
  <mass value="1e-5" />
  <origin xyz="0 ${camera_link + axel_offset} 0" rpy="0 0 0"/>
  <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6" />
</inertial>

</link>

however, now the camera view seems obstructed by an edge of the camera box.

Referring to the attached figure, How can I change the camera orientation so that the beer can will be visible when placed to the front of the robot?

I have fixed the orientation by acting on the camera_joint rpy, as shown in the following:

  <joint name="camera_joint" type="fixed">
<origin xyz="${2*camera_link} ${height + 2*axel_offset} 0" rpy="0 0 1.57"/>
<parent link="link4"/>
<child link="camera_link"/>
  </joint>

<link name="camera_link"> <collision> <origin xyz="0 ${camera_link + axel_offset} 0" rpy="0 0 0"/> <geometry> <box size="${camera_link} ${camera_link} ${camera_link}"/> </geometry> </collision>

<visual>
  <origin xyz="0 ${camera_link + axel_offset} 0" rpy="0 0 0"/>
  <geometry>
<box size="${camera_link} ${camera_link} ${camera_link}"/>
  </geometry>
  <material name="red"/>
</visual>

<inertial>
  <mass value="1e-5" />
  <origin xyz="0 ${camera_link + axel_offset} 0" rpy="0 0 0"/>
  <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6" />
</inertial>

</link>

however, now the camera view seems obstructed by an edge of the camera box.

Referring to the attached figure, How can I change the camera orientation so that the beer can will be visible when placed to the front of the robot?

I have fixed the orientation by acting on the camera_joint rpy, as shown in the following:

  <joint name="camera_joint" type="fixed">
 <origin xyz="${2*camera_link} ${height + 2*axel_offset} 0" rpy="0 0 1.57"/>
 <parent link="link4"/>
 <child link="camera_link"/>
  </joint>

<!-- Camera --> <link name="camera_link"> <collision> <origin xyz="0 ${camera_link + axel_offset} 0" rpy="0 0 0"/> <geometry> <box size="${camera_link} ${camera_link} ${camera_link}"/> </geometry> </collision>

</collision>

    <visual>
   <origin xyz="0 ${camera_link + axel_offset} 0" rpy="0 0 0"/>
   <geometry>
 <box size="${camera_link} ${camera_link} ${camera_link}"/>
   </geometry>
   <material name="red"/>
 </visual>

 <inertial>
   <mass value="1e-5" />
   <origin xyz="0 ${camera_link + axel_offset} 0" rpy="0 0 0"/>
   <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6" />
 </inertial>
  </link>

however, now the camera view seems obstructed by an edge of the camera box.