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fix: update joint orientations in URDF files for Gemini 305 and 309 models

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This commit is contained in:
ob-yalian
2026-06-05 17:47:26 +08:00
parent ed543c05bc
commit 0d78727f78
3 changed files with 45 additions and 45 deletions
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orbbec_description/urdf/gemini305.urdf.xacro
+15 -15
View File
@@ -1,5 +1,5 @@
<?xml version="1.0" encoding="utf-8"?> <?xml version="1.0" encoding="utf-8"?>
<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner ([email protected]) <!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner ([email protected])
Commit Version: 1.6.0-4-g7f85cfe Build Version: 1.6.7995.38578 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 --> For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
<robot xmlns:xacro="http://ros.org/wiki/xacro" name="gemini305"> <robot xmlns:xacro="http://ros.org/wiki/xacro" name="gemini305">
@@ -23,7 +23,7 @@
<visual> <visual>
<origin <origin
xyz="0 0 0" xyz="0 0 0"
rpy="0 0 0" /> rpy="0 0 1.570796326794897" />
<geometry> <geometry>
<mesh <mesh
filename="${mesh_path}base_link.STL" /> filename="${mesh_path}base_link.STL" />
@@ -37,7 +37,7 @@
<collision> <collision>
<origin <origin
xyz="0 0 0" xyz="0 0 0"
rpy="0 0 0" /> rpy="0 0 1.570796326794897" />
<geometry> <geometry>
<mesh <mesh
filename="${mesh_path}base_link.STL" /> filename="${mesh_path}base_link.STL" />
@@ -63,7 +63,7 @@
<visual> <visual>
<origin <origin
xyz="0 0 0" xyz="0 0 0"
rpy="0 0 0" /> rpy="0 0 1.570796326794897" />
<geometry> <geometry>
<mesh <mesh
filename="${mesh_path}RGB_R.STL" /> filename="${mesh_path}RGB_R.STL" />
@@ -77,7 +77,7 @@
<collision> <collision>
<origin <origin
xyz="0 0 0" xyz="0 0 0"
rpy="0 0 0" /> rpy="0 0 1.570796326794897" />
<geometry> <geometry>
<mesh <mesh
filename="${mesh_path}RGB_R.STL" /> filename="${mesh_path}RGB_R.STL" />
@@ -116,7 +116,7 @@
<visual> <visual>
<origin <origin
xyz="0 0 0" xyz="0 0 0"
rpy="0 0 0" /> rpy="0 0 1.570796326794897" />
<geometry> <geometry>
<mesh <mesh
filename="${mesh_path}RGB_L.STL" /> filename="${mesh_path}RGB_L.STL" />
@@ -130,7 +130,7 @@
<collision> <collision>
<origin <origin
xyz="0 0 0" xyz="0 0 0"
rpy="0 0 0" /> rpy="0 0 1.570796326794897" />
<geometry> <geometry>
<mesh <mesh
filename="${mesh_path}RGB_L.STL" /> filename="${mesh_path}RGB_L.STL" />
@@ -169,7 +169,7 @@
<visual> <visual>
<origin <origin
xyz="0 0 0" xyz="0 0 0"
rpy="0 0 0" /> rpy="0 0 1.570796326794897" />
<geometry> <geometry>
<mesh <mesh
filename="${mesh_path}USB.STL" /> filename="${mesh_path}USB.STL" />
@@ -183,7 +183,7 @@
<collision> <collision>
<origin <origin
xyz="0 0 0" xyz="0 0 0"
rpy="0 0 0" /> rpy="0 0 1.570796326794897" />
<geometry> <geometry>
<mesh <mesh
filename="${mesh_path}USB.STL" /> filename="${mesh_path}USB.STL" />
@@ -222,7 +222,7 @@
<visual> <visual>
<origin <origin
xyz="0 0 0" xyz="0 0 0"
rpy="0 0 0" /> rpy="0 0 1.570796326794897" />
<geometry> <geometry>
<mesh <mesh
filename="${mesh_path}camera_rear_screw_R.STL" /> filename="${mesh_path}camera_rear_screw_R.STL" />
@@ -236,7 +236,7 @@
<collision> <collision>
<origin <origin
xyz="0 0 0" xyz="0 0 0"
rpy="0 0 0" /> rpy="0 0 1.570796326794897" />
<geometry> <geometry>
<mesh <mesh
filename="${mesh_path}camera_rear_screw_R.STL" /> filename="${mesh_path}camera_rear_screw_R.STL" />
@@ -275,7 +275,7 @@
<visual> <visual>
<origin <origin
xyz="0 0 0" xyz="0 0 0"
rpy="0 0 0" /> rpy="0 0 1.570796326794897" />
<geometry> <geometry>
<mesh <mesh
filename="${mesh_path}camera_rear_screw_L.STL" /> filename="${mesh_path}camera_rear_screw_L.STL" />
@@ -289,7 +289,7 @@
<collision> <collision>
<origin <origin
xyz="0 0 0" xyz="0 0 0"
rpy="0 0 0" /> rpy="0 0 1.570796326794897" />
<geometry> <geometry>
<mesh <mesh
filename="${mesh_path}camera_rear_screw_L.STL" /> filename="${mesh_path}camera_rear_screw_L.STL" />
@@ -328,7 +328,7 @@
<visual> <visual>
<origin <origin
xyz="0 0 0" xyz="0 0 0"
rpy="0 0 0" /> rpy="0 0 1.570796326794897" />
<geometry> <geometry>
<mesh <mesh
filename="${mesh_path}camera_bottom_screw.STL" /> filename="${mesh_path}camera_bottom_screw.STL" />
@@ -342,7 +342,7 @@
<collision> <collision>
<origin <origin
xyz="0 0 0" xyz="0 0 0"
rpy="0 0 0" /> rpy="0 0 1.570796326794897" />
<geometry> <geometry>
<mesh <mesh
filename="${mesh_path}camera_bottom_screw.STL" /> filename="${mesh_path}camera_bottom_screw.STL" />
orbbec_description/urdf/gemini305_g.urdf.xacro
+16 -16
View File
@@ -23,7 +23,7 @@
<visual> <visual>
<origin <origin
xyz="0 0 0" xyz="0 0 0"
rpy="0 0 0" /> rpy="0 0 1.570796326794897" />
<geometry> <geometry>
<mesh <mesh
filename="${mesh_path}base_link.STL" /> filename="${mesh_path}base_link.STL" />
@@ -37,7 +37,7 @@
<collision> <collision>
<origin <origin
xyz="0 0 0" xyz="0 0 0"
rpy="0 0 0" /> rpy="0 0 1.570796326794897" />
<geometry> <geometry>
<mesh <mesh
filename="${mesh_path}base_link.STL" /> filename="${mesh_path}base_link.STL" />
@@ -63,7 +63,7 @@
<visual> <visual>
<origin <origin
xyz="0 0 0" xyz="0 0 0"
rpy="0 0 0" /> rpy="0 0 1.570796326794897" />
<geometry> <geometry>
<mesh <mesh
filename="${mesh_path}camera_bottom_screw.STL" /> filename="${mesh_path}camera_bottom_screw.STL" />
@@ -77,7 +77,7 @@
<collision> <collision>
<origin <origin
xyz="0 0 0" xyz="0 0 0"
rpy="0 0 0" /> rpy="0 0 1.570796326794897" />
<geometry> <geometry>
<mesh <mesh
filename="${mesh_path}camera_bottom_screw.STL" /> filename="${mesh_path}camera_bottom_screw.STL" />
@@ -116,7 +116,7 @@
<visual> <visual>
<origin <origin
xyz="0 0 0" xyz="0 0 0"
rpy="0 0 0" /> rpy="0 0 1.570796326794897" />
<geometry> <geometry>
<mesh <mesh
filename="${mesh_path}RGB_R.STL" /> filename="${mesh_path}RGB_R.STL" />
@@ -130,7 +130,7 @@
<collision> <collision>
<origin <origin
xyz="0 0 0" xyz="0 0 0"
rpy="0 0 0" /> rpy="0 0 1.570796326794897" />
<geometry> <geometry>
<mesh <mesh
filename="${mesh_path}RGB_R.STL" /> filename="${mesh_path}RGB_R.STL" />
@@ -169,7 +169,7 @@
<visual> <visual>
<origin <origin
xyz="0 0 0" xyz="0 0 0"
rpy="0 0 0" /> rpy="0 0 1.570796326794897" />
<geometry> <geometry>
<mesh <mesh
filename="${mesh_path}RGB_L.STL" /> filename="${mesh_path}RGB_L.STL" />
@@ -183,7 +183,7 @@
<collision> <collision>
<origin <origin
xyz="0 0 0" xyz="0 0 0"
rpy="0 0 0" /> rpy="0 0 1.570796326794897" />
<geometry> <geometry>
<mesh <mesh
filename="${mesh_path}RGB_L.STL" /> filename="${mesh_path}RGB_L.STL" />
@@ -222,7 +222,7 @@
<visual> <visual>
<origin <origin
xyz="0 0 0" xyz="0 0 0"
rpy="0 0 0" /> rpy="0 0 1.570796326794897" />
<geometry> <geometry>
<mesh <mesh
filename="${mesh_path}USB.STL" /> filename="${mesh_path}USB.STL" />
@@ -236,7 +236,7 @@
<collision> <collision>
<origin <origin
xyz="0 0 0" xyz="0 0 0"
rpy="0 0 0" /> rpy="0 0 1.570796326794897" />
<geometry> <geometry>
<mesh <mesh
filename="${mesh_path}USB.STL" /> filename="${mesh_path}USB.STL" />
@@ -275,7 +275,7 @@
<visual> <visual>
<origin <origin
xyz="0 0 0" xyz="0 0 0"
rpy="0 0 0" /> rpy="0 0 1.570796326794897" />
<geometry> <geometry>
<mesh <mesh
filename="${mesh_path}camera_rear_screw_R.STL" /> filename="${mesh_path}camera_rear_screw_R.STL" />
@@ -289,7 +289,7 @@
<collision> <collision>
<origin <origin
xyz="0 0 0" xyz="0 0 0"
rpy="0 0 0" /> rpy="0 0 1.570796326794897" />
<geometry> <geometry>
<mesh <mesh
filename="${mesh_path}camera_rear_screw_R.STL" /> filename="${mesh_path}camera_rear_screw_R.STL" />
@@ -328,7 +328,7 @@
<visual> <visual>
<origin <origin
xyz="0 0 0" xyz="0 0 0"
rpy="0 0 0" /> rpy="0 0 1.570796326794897" />
<geometry> <geometry>
<mesh <mesh
filename="${mesh_path}camera_rear_screw_L.STL" /> filename="${mesh_path}camera_rear_screw_L.STL" />
@@ -342,7 +342,7 @@
<collision> <collision>
<origin <origin
xyz="0 0 0" xyz="0 0 0"
rpy="0 0 0" /> rpy="0 0 1.570796326794897" />
<geometry> <geometry>
<mesh <mesh
filename="${mesh_path}camera_rear_screw_L.STL" /> filename="${mesh_path}camera_rear_screw_L.STL" />
@@ -381,7 +381,7 @@
<visual> <visual>
<origin <origin
xyz="0 0 0" xyz="0 0 0"
rpy="0 0 0" /> rpy="0 0 1.570796326794897" />
<geometry> <geometry>
<mesh <mesh
filename="${mesh_path}FAKRA.STL" /> filename="${mesh_path}FAKRA.STL" />
@@ -395,7 +395,7 @@
<collision> <collision>
<origin <origin
xyz="0 0 0" xyz="0 0 0"
rpy="0 0 0" /> rpy="0 0 1.570796326794897" />
<geometry> <geometry>
<mesh <mesh
filename="${mesh_path}FAKRA.STL" /> filename="${mesh_path}FAKRA.STL" />
orbbec_description/urdf/gemini309_g.urdf.xacro
+14 -14
View File
@@ -23,7 +23,7 @@
<visual> <visual>
<origin <origin
xyz="0 0 0" xyz="0 0 0"
rpy="0 0 0" /> rpy="0 0 1.570796326794897" />
<geometry> <geometry>
<mesh <mesh
filename="${mesh_path}camera_bottom_screw.STL" /> filename="${mesh_path}camera_bottom_screw.STL" />
@@ -37,7 +37,7 @@
<collision> <collision>
<origin <origin
xyz="0 0 0" xyz="0 0 0"
rpy="0 0 0" /> rpy="0 0 1.570796326794897" />
<geometry> <geometry>
<mesh <mesh
filename="${mesh_path}camera_bottom_screw.STL" /> filename="${mesh_path}camera_bottom_screw.STL" />
@@ -63,7 +63,7 @@
<visual> <visual>
<origin <origin
xyz="0 0 0" xyz="0 0 0"
rpy="0 0 0" /> rpy="0 0 1.570796326794897" />
<geometry> <geometry>
<mesh <mesh
filename="${mesh_path}RGB_R.STL" /> filename="${mesh_path}RGB_R.STL" />
@@ -77,7 +77,7 @@
<collision> <collision>
<origin <origin
xyz="0 0 0" xyz="0 0 0"
rpy="0 0 0" /> rpy="0 0 1.570796326794897" />
<geometry> <geometry>
<mesh <mesh
filename="${mesh_path}RGB_R.STL" /> filename="${mesh_path}RGB_R.STL" />
@@ -116,7 +116,7 @@
<visual> <visual>
<origin <origin
xyz="0 0 0" xyz="0 0 0"
rpy="0 0 0" /> rpy="0 0 1.570796326794897" />
<geometry> <geometry>
<mesh <mesh
filename="${mesh_path}RGB_L.STL" /> filename="${mesh_path}RGB_L.STL" />
@@ -130,7 +130,7 @@
<collision> <collision>
<origin <origin
xyz="0 0 0" xyz="0 0 0"
rpy="0 0 0" /> rpy="0 0 1.570796326794897" />
<geometry> <geometry>
<mesh <mesh
filename="${mesh_path}RGB_L.STL" /> filename="${mesh_path}RGB_L.STL" />
@@ -169,7 +169,7 @@
<visual> <visual>
<origin <origin
xyz="0 0 0" xyz="0 0 0"
rpy="0 0 0" /> rpy="0 0 1.570796326794897" />
<geometry> <geometry>
<mesh <mesh
filename="${mesh_path}USB.STL" /> filename="${mesh_path}USB.STL" />
@@ -183,7 +183,7 @@
<collision> <collision>
<origin <origin
xyz="0 0 0" xyz="0 0 0"
rpy="0 0 0" /> rpy="0 0 1.570796326794897" />
<geometry> <geometry>
<mesh <mesh
filename="${mesh_path}USB.STL" /> filename="${mesh_path}USB.STL" />
@@ -222,7 +222,7 @@
<visual> <visual>
<origin <origin
xyz="0 0 0" xyz="0 0 0"
rpy="0 0 0" /> rpy="0 0 1.570796326794897" />
<geometry> <geometry>
<mesh <mesh
filename="${mesh_path}camera_rear_screw_R.STL" /> filename="${mesh_path}camera_rear_screw_R.STL" />
@@ -236,7 +236,7 @@
<collision> <collision>
<origin <origin
xyz="0 0 0" xyz="0 0 0"
rpy="0 0 0" /> rpy="0 0 1.570796326794897" />
<geometry> <geometry>
<mesh <mesh
filename="${mesh_path}camera_rear_screw_R.STL" /> filename="${mesh_path}camera_rear_screw_R.STL" />
@@ -275,7 +275,7 @@
<visual> <visual>
<origin <origin
xyz="0 0 0" xyz="0 0 0"
rpy="0 0 0" /> rpy="0 0 1.570796326794897" />
<geometry> <geometry>
<mesh <mesh
filename="${mesh_path}camera_rear_screw_L.STL" /> filename="${mesh_path}camera_rear_screw_L.STL" />
@@ -289,7 +289,7 @@
<collision> <collision>
<origin <origin
xyz="0 0 0" xyz="0 0 0"
rpy="0 0 0" /> rpy="0 0 1.570796326794897" />
<geometry> <geometry>
<mesh <mesh
filename="${mesh_path}camera_rear_screw_L.STL" /> filename="${mesh_path}camera_rear_screw_L.STL" />
@@ -328,7 +328,7 @@
<visual> <visual>
<origin <origin
xyz="0 0 0" xyz="0 0 0"
rpy="0 0 0" /> rpy="0 0 1.570796326794897" />
<geometry> <geometry>
<mesh <mesh
filename="${mesh_path}FAKRA.STL" /> filename="${mesh_path}FAKRA.STL" />
@@ -342,7 +342,7 @@
<collision> <collision>
<origin <origin
xyz="0 0 0" xyz="0 0 0"
rpy="0 0 0" /> rpy="0 0 1.570796326794897" />
<geometry> <geometry>
<mesh <mesh
filename="${mesh_path}FAKRA.STL" /> filename="${mesh_path}FAKRA.STL" />