From 5ad31d1a9cf413cec0687cac3415223913821859 Mon Sep 17 00:00:00 2001
From: Takaaki Numai <takaaki.numai01@g.softbank.co.jp>
Date: Mon, 22 Apr 2024 16:28:20 +0900
Subject: [PATCH] Fix collision offset

---
 realsense2_description/urdf/_d435.urdf.xacro | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/realsense2_description/urdf/_d435.urdf.xacro b/realsense2_description/urdf/_d435.urdf.xacro
index 5593cbc334..92f17b9120 100644
--- a/realsense2_description/urdf/_d435.urdf.xacro
+++ b/realsense2_description/urdf/_d435.urdf.xacro
@@ -74,7 +74,7 @@ aluminum peripherial evaluation case.
         </xacro:unless>     
       </visual>
       <collision>
-        <origin xyz="0 ${-d435_cam_depth_py} 0" rpy="0 0 0"/>
+        <origin xyz="-0.0085 ${-d435_cam_depth_py} 0" rpy="0 0 0"/>
         <geometry>
           <box size="${d435_cam_depth} ${d435_cam_width} ${d435_cam_height}"/>
         </geometry>