From 0d78727f78db38e47e82f048a476bbe961e7e487 Mon Sep 17 00:00:00 2001
From: ob-yalian <luotao2025@163.com>
Date: Fri, 5 Jun 2026 17:47:26 +0800
Subject: [PATCH] fix: update joint orientations in URDF files for Gemini 305
 and 309 models

---
 orbbec_description/urdf/gemini305.urdf.xacro  | 30 ++++++++---------
 .../urdf/gemini305_g.urdf.xacro               | 32 +++++++++----------
 .../urdf/gemini309_g.urdf.xacro               | 28 ++++++++--------
 3 files changed, 45 insertions(+), 45 deletions(-)

diff --git a/orbbec_description/urdf/gemini305.urdf.xacro b/orbbec_description/urdf/gemini305.urdf.xacro
index f0125cfd..a17142ed 100644
--- a/orbbec_description/urdf/gemini305.urdf.xacro
+++ b/orbbec_description/urdf/gemini305.urdf.xacro
@@ -1,5 +1,5 @@
 <?xml version="1.0" encoding="utf-8"?>
-<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com) 
+<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com)
      Commit Version: 1.6.0-4-g7f85cfe  Build Version: 1.6.7995.38578
      For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
 <robot xmlns:xacro="http://ros.org/wiki/xacro" name="gemini305">
@@ -23,7 +23,7 @@
     <visual>
       <origin
         xyz="0 0 0"
-        rpy="0 0 0" />
+        rpy="0 0 1.570796326794897" />
       <geometry>
         <mesh
           filename="${mesh_path}base_link.STL" />
@@ -37,7 +37,7 @@
     <collision>
       <origin
         xyz="0 0 0"
-        rpy="0 0 0" />
+        rpy="0 0 1.570796326794897" />
       <geometry>
         <mesh
           filename="${mesh_path}base_link.STL" />
@@ -63,7 +63,7 @@
     <visual>
       <origin
         xyz="0 0 0"
-        rpy="0 0 0" />
+        rpy="0 0 1.570796326794897" />
       <geometry>
         <mesh
           filename="${mesh_path}RGB_R.STL" />
@@ -77,7 +77,7 @@
     <collision>
       <origin
         xyz="0 0 0"
-        rpy="0 0 0" />
+        rpy="0 0 1.570796326794897" />
       <geometry>
         <mesh
           filename="${mesh_path}RGB_R.STL" />
@@ -116,7 +116,7 @@
     <visual>
       <origin
         xyz="0 0 0"
-        rpy="0 0 0" />
+        rpy="0 0 1.570796326794897" />
       <geometry>
         <mesh
           filename="${mesh_path}RGB_L.STL" />
@@ -130,7 +130,7 @@
     <collision>
       <origin
         xyz="0 0 0"
-        rpy="0 0 0" />
+        rpy="0 0 1.570796326794897" />
       <geometry>
         <mesh
           filename="${mesh_path}RGB_L.STL" />
@@ -169,7 +169,7 @@
     <visual>
       <origin
         xyz="0 0 0"
-        rpy="0 0 0" />
+        rpy="0 0 1.570796326794897" />
       <geometry>
         <mesh
           filename="${mesh_path}USB.STL" />
@@ -183,7 +183,7 @@
     <collision>
       <origin
         xyz="0 0 0"
-        rpy="0 0 0" />
+        rpy="0 0 1.570796326794897" />
       <geometry>
         <mesh
           filename="${mesh_path}USB.STL" />
@@ -222,7 +222,7 @@
     <visual>
       <origin
         xyz="0 0 0"
-        rpy="0 0 0" />
+        rpy="0 0 1.570796326794897" />
       <geometry>
         <mesh
           filename="${mesh_path}camera_rear_screw_R.STL" />
@@ -236,7 +236,7 @@
     <collision>
       <origin
         xyz="0 0 0"
-        rpy="0 0 0" />
+        rpy="0 0 1.570796326794897" />
       <geometry>
         <mesh
           filename="${mesh_path}camera_rear_screw_R.STL" />
@@ -275,7 +275,7 @@
     <visual>
       <origin
         xyz="0 0 0"
-        rpy="0 0 0" />
+        rpy="0 0 1.570796326794897" />
       <geometry>
         <mesh
           filename="${mesh_path}camera_rear_screw_L.STL" />
@@ -289,7 +289,7 @@
     <collision>
       <origin
         xyz="0 0 0"
-        rpy="0 0 0" />
+        rpy="0 0 1.570796326794897" />
       <geometry>
         <mesh
           filename="${mesh_path}camera_rear_screw_L.STL" />
@@ -328,7 +328,7 @@
     <visual>
       <origin
         xyz="0 0 0"
-        rpy="0 0 0" />
+        rpy="0 0 1.570796326794897" />
       <geometry>
         <mesh
           filename="${mesh_path}camera_bottom_screw.STL" />
@@ -342,7 +342,7 @@
     <collision>
       <origin
         xyz="0 0 0"
-        rpy="0 0 0" />
+        rpy="0 0 1.570796326794897" />
       <geometry>
         <mesh
           filename="${mesh_path}camera_bottom_screw.STL" />
diff --git a/orbbec_description/urdf/gemini305_g.urdf.xacro b/orbbec_description/urdf/gemini305_g.urdf.xacro
index 7c530ac4..24e424aa 100644
--- a/orbbec_description/urdf/gemini305_g.urdf.xacro
+++ b/orbbec_description/urdf/gemini305_g.urdf.xacro
@@ -23,7 +23,7 @@
     <visual>
       <origin
         xyz="0 0 0"
-        rpy="0 0 0" />
+        rpy="0 0 1.570796326794897" />
       <geometry>
         <mesh
           filename="${mesh_path}base_link.STL" />
@@ -37,7 +37,7 @@
     <collision>
       <origin
         xyz="0 0 0"
-        rpy="0 0 0" />
+        rpy="0 0 1.570796326794897" />
       <geometry>
         <mesh
           filename="${mesh_path}base_link.STL" />
@@ -63,7 +63,7 @@
     <visual>
       <origin
         xyz="0 0 0"
-        rpy="0 0 0" />
+        rpy="0 0 1.570796326794897" />
       <geometry>
         <mesh
           filename="${mesh_path}camera_bottom_screw.STL" />
@@ -77,7 +77,7 @@
     <collision>
       <origin
         xyz="0 0 0"
-        rpy="0 0 0" />
+        rpy="0 0 1.570796326794897" />
       <geometry>
         <mesh
           filename="${mesh_path}camera_bottom_screw.STL" />
@@ -116,7 +116,7 @@
     <visual>
       <origin
         xyz="0 0 0"
-        rpy="0 0 0" />
+        rpy="0 0 1.570796326794897" />
       <geometry>
         <mesh
           filename="${mesh_path}RGB_R.STL" />
@@ -130,7 +130,7 @@
     <collision>
       <origin
         xyz="0 0 0"
-        rpy="0 0 0" />
+        rpy="0 0 1.570796326794897" />
       <geometry>
         <mesh
           filename="${mesh_path}RGB_R.STL" />
@@ -169,7 +169,7 @@
     <visual>
       <origin
         xyz="0 0 0"
-        rpy="0 0 0" />
+        rpy="0 0 1.570796326794897" />
       <geometry>
         <mesh
           filename="${mesh_path}RGB_L.STL" />
@@ -183,7 +183,7 @@
     <collision>
       <origin
         xyz="0 0 0"
-        rpy="0 0 0" />
+        rpy="0 0 1.570796326794897" />
       <geometry>
         <mesh
           filename="${mesh_path}RGB_L.STL" />
@@ -222,7 +222,7 @@
     <visual>
       <origin
         xyz="0 0 0"
-        rpy="0 0 0" />
+        rpy="0 0 1.570796326794897" />
       <geometry>
         <mesh
           filename="${mesh_path}USB.STL" />
@@ -236,7 +236,7 @@
     <collision>
       <origin
         xyz="0 0 0"
-        rpy="0 0 0" />
+        rpy="0 0 1.570796326794897" />
       <geometry>
         <mesh
           filename="${mesh_path}USB.STL" />
@@ -275,7 +275,7 @@
     <visual>
       <origin
         xyz="0 0 0"
-        rpy="0 0 0" />
+        rpy="0 0 1.570796326794897" />
       <geometry>
         <mesh
           filename="${mesh_path}camera_rear_screw_R.STL" />
@@ -289,7 +289,7 @@
     <collision>
       <origin
         xyz="0 0 0"
-        rpy="0 0 0" />
+        rpy="0 0 1.570796326794897" />
       <geometry>
         <mesh
           filename="${mesh_path}camera_rear_screw_R.STL" />
@@ -328,7 +328,7 @@
     <visual>
       <origin
         xyz="0 0 0"
-        rpy="0 0 0" />
+        rpy="0 0 1.570796326794897" />
       <geometry>
         <mesh
           filename="${mesh_path}camera_rear_screw_L.STL" />
@@ -342,7 +342,7 @@
     <collision>
       <origin
         xyz="0 0 0"
-        rpy="0 0 0" />
+        rpy="0 0 1.570796326794897" />
       <geometry>
         <mesh
           filename="${mesh_path}camera_rear_screw_L.STL" />
@@ -381,7 +381,7 @@
     <visual>
       <origin
         xyz="0 0 0"
-        rpy="0 0 0" />
+        rpy="0 0 1.570796326794897" />
       <geometry>
         <mesh
           filename="${mesh_path}FAKRA.STL" />
@@ -395,7 +395,7 @@
     <collision>
       <origin
         xyz="0 0 0"
-        rpy="0 0 0" />
+        rpy="0 0 1.570796326794897" />
       <geometry>
         <mesh
           filename="${mesh_path}FAKRA.STL" />
diff --git a/orbbec_description/urdf/gemini309_g.urdf.xacro b/orbbec_description/urdf/gemini309_g.urdf.xacro
index 61e5fe68..ae2db95f 100644
--- a/orbbec_description/urdf/gemini309_g.urdf.xacro
+++ b/orbbec_description/urdf/gemini309_g.urdf.xacro
@@ -23,7 +23,7 @@
     <visual>
       <origin
         xyz="0 0 0"
-        rpy="0 0 0" />
+        rpy="0 0 1.570796326794897" />
       <geometry>
         <mesh
           filename="${mesh_path}camera_bottom_screw.STL" />
@@ -37,7 +37,7 @@
     <collision>
       <origin
         xyz="0 0 0"
-        rpy="0 0 0" />
+        rpy="0 0 1.570796326794897" />
       <geometry>
         <mesh
           filename="${mesh_path}camera_bottom_screw.STL" />
@@ -63,7 +63,7 @@
     <visual>
       <origin
         xyz="0 0 0"
-        rpy="0 0 0" />
+        rpy="0 0 1.570796326794897" />
       <geometry>
         <mesh
           filename="${mesh_path}RGB_R.STL" />
@@ -77,7 +77,7 @@
     <collision>
       <origin
         xyz="0 0 0"
-        rpy="0 0 0" />
+        rpy="0 0 1.570796326794897" />
       <geometry>
         <mesh
           filename="${mesh_path}RGB_R.STL" />
@@ -116,7 +116,7 @@
     <visual>
       <origin
         xyz="0 0 0"
-        rpy="0 0 0" />
+        rpy="0 0 1.570796326794897" />
       <geometry>
         <mesh
           filename="${mesh_path}RGB_L.STL" />
@@ -130,7 +130,7 @@
     <collision>
       <origin
         xyz="0 0 0"
-        rpy="0 0 0" />
+        rpy="0 0 1.570796326794897" />
       <geometry>
         <mesh
           filename="${mesh_path}RGB_L.STL" />
@@ -169,7 +169,7 @@
     <visual>
       <origin
         xyz="0 0 0"
-        rpy="0 0 0" />
+        rpy="0 0 1.570796326794897" />
       <geometry>
         <mesh
           filename="${mesh_path}USB.STL" />
@@ -183,7 +183,7 @@
     <collision>
       <origin
         xyz="0 0 0"
-        rpy="0 0 0" />
+        rpy="0 0 1.570796326794897" />
       <geometry>
         <mesh
           filename="${mesh_path}USB.STL" />
@@ -222,7 +222,7 @@
     <visual>
       <origin
         xyz="0 0 0"
-        rpy="0 0 0" />
+        rpy="0 0 1.570796326794897" />
       <geometry>
         <mesh
           filename="${mesh_path}camera_rear_screw_R.STL" />
@@ -236,7 +236,7 @@
     <collision>
       <origin
         xyz="0 0 0"
-        rpy="0 0 0" />
+        rpy="0 0 1.570796326794897" />
       <geometry>
         <mesh
           filename="${mesh_path}camera_rear_screw_R.STL" />
@@ -275,7 +275,7 @@
     <visual>
       <origin
         xyz="0 0 0"
-        rpy="0 0 0" />
+        rpy="0 0 1.570796326794897" />
       <geometry>
         <mesh
           filename="${mesh_path}camera_rear_screw_L.STL" />
@@ -289,7 +289,7 @@
     <collision>
       <origin
         xyz="0 0 0"
-        rpy="0 0 0" />
+        rpy="0 0 1.570796326794897" />
       <geometry>
         <mesh
           filename="${mesh_path}camera_rear_screw_L.STL" />
@@ -328,7 +328,7 @@
     <visual>
       <origin
         xyz="0 0 0"
-        rpy="0 0 0" />
+        rpy="0 0 1.570796326794897" />
       <geometry>
         <mesh
           filename="${mesh_path}FAKRA.STL" />
@@ -342,7 +342,7 @@
     <collision>
       <origin
         xyz="0 0 0"
-        rpy="0 0 0" />
+        rpy="0 0 1.570796326794897" />
       <geometry>
         <mesh
           filename="${mesh_path}FAKRA.STL" />