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Add URDF model for Gemini 345Lg and test file

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slz
2026-04-29 15:44:10 +08:00
parent f7ad98ed51
commit 2cf2b76dbf
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orbbec_description/urdf/gemini345Lg.urdf.xacro
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<?xml version="1.0" encoding="utf-8"?>
<!-- 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
For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
<robot xmlns:xacro="http://ros.org/wiki/xacro" name="gemini345Lg">
<xacro:property name="mesh_path" value="package://orbbec_description/meshes/gemini345Lg/" />
<link
name="base_link">
<inertial>
<origin
xyz="-0.0134366415045081 0.00104651333898482 -7.03343267068714E-05"
rpy="0 0 0" />
<mass
value="0.0215844638416589" />
<inertia
ixx="3.27367097133559E-05"
ixy="1.00838588052087E-08"
ixz="-1.4724694847835E-10"
iyy="3.2433989304705E-06"
iyz="-1.75779219489013E-07"
izz="3.12774671483993E-05" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="${mesh_path}base_link.STL" />
</geometry>
<material
name="">
<color
rgba="0.286274509803922 0.619607843137255 0.749019607843137 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="${mesh_path}base_link.STL" />
</geometry>
</collision>
</link>
<link
name="camera_bottom_screw_frame">
<inertial>
<origin
xyz="-0.0350120894657584 -0.00340477075942242 8.70441866524275E-05"
rpy="0 0 0" />
<mass
value="0.0173597661958447" />
<inertia
ixx="1.88009660853793E-05"
ixy="-4.43021080342314E-07"
ixz="-2.91588301648928E-09"
iyy="2.53990333445075E-06"
iyz="-2.8372782100572E-08"
izz="1.75573510554478E-05" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="${mesh_path}camera_bottom_screw_frame.STL" />
</geometry>
<material
name="">
<color
rgba="0.631372549019608 0.686274509803922 0.749019607843137 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="${mesh_path}camera_bottom_screw_frame.STL" />
</geometry>
</collision>
</link>
<joint
name="camera_bottom_screw_frame"
type="fixed">
<origin
xyz="0 0 0"
rpy="0 0 0" />
<parent
link="base_link" />
<child
link="camera_bottom_screw_frame" />
<axis
xyz="0 0 0" />
</joint>
<link
name="camera_infra1_frame">
<inertial>
<origin
xyz="-0.00294368828819506 5.00000006675716E-10 -5.94655220111843E-11"
rpy="0 0 0" />
<mass
value="0.000921175541096741" />
<inertia
ixx="1.81535637526191E-08"
ixy="-4.65942125450868E-25"
ixz="-2.81315054199892E-16"
iyy="1.38975394593283E-08"
iyz="-1.13821267266512E-33"
izz="1.38975394593283E-08" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="${mesh_path}camera_infra1_frame.STL" />
</geometry>
<material
name="">
<color
rgba="0.458823529411765 0.447058823529412 0.43921568627451 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="${mesh_path}camera_infra1_frame.STL" />
</geometry>
</collision>
</link>
<joint
name="camera_infra1_frame"
type="fixed">
<origin
xyz="-0.004255 0.044 0"
rpy="0 0 0" />
<parent
link="camera_bottom_screw_frame" />
<child
link="camera_infra1_frame" />
<axis
xyz="0 0 0" />
</joint>
<link
name="camera_infra1_optical_frame">
<inertial>
<origin
xyz="-5.00000006675716E-10 5.94655220374918E-11 -0.00294368828819506"
rpy="0 0 0" />
<mass
value="0.000921175541096741" />
<inertia
ixx="1.38975394593283E-08"
ixy="-1.13821267159089E-33"
ixz="4.65942125450868E-25"
iyy="1.38975394593283E-08"
iyz="2.8131505422727E-16"
izz="1.81535637526191E-08" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="${mesh_path}camera_infra1_optical_frame.STL" />
</geometry>
<material
name="">
<color
rgba="0.458823529411765 0.447058823529412 0.43921568627451 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="${mesh_path}camera_infra1_optical_frame.STL" />
</geometry>
</collision>
</link>
<joint
name="camera_infra1_optical_frame"
type="fixed">
<origin
xyz="0 0 0"
rpy="-1.5708 0 -1.5708" />
<parent
link="camera_infra1_frame" />
<child
link="camera_infra1_optical_frame" />
<axis
xyz="0 0 0" />
</joint>
<link
name="camera_infra2_frame">
<inertial>
<origin
xyz="-0.00294368828819506 0 -5.5946552198084E-10"
rpy="0 0 0" />
<mass
value="0.000921175541096741" />
<inertia
ixx="1.81535637526192E-08"
ixy="-4.65942125450868E-25"
ixz="-2.8131505407876E-16"
iyy="1.38975394593283E-08"
iyz="-1.13821267070129E-33"
izz="1.38975394593283E-08" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="${mesh_path}camera_infra2_frame.STL" />
</geometry>
<material
name="">
<color
rgba="0.458823529411765 0.447058823529412 0.43921568627451 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="${mesh_path}camera_infra2_frame.STL" />
</geometry>
</collision>
</link>
<joint
name="camera_infra2_frame"
type="fixed">
<origin
xyz="-0.004255 -0.044 0"
rpy="0 0 0" />
<parent
link="camera_bottom_screw_frame" />
<child
link="camera_infra2_frame" />
<axis
xyz="0 0 0" />
</joint>
<link
name="camera_infra2_optical_frame">
<inertial>
<origin
xyz="0 5.59465522005393E-10 -0.00294368828819506"
rpy="0 0 0" />
<mass
value="0.000921175541096741" />
<inertia
ixx="1.38975394593283E-08"
ixy="-1.13821267174195E-33"
ixz="4.65942125450868E-25"
iyy="1.38975394593283E-08"
iyz="2.81315054258919E-16"
izz="1.81535637526192E-08" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="${mesh_path}camera_infra2_optical_frame.STL" />
</geometry>
<material
name="">
<color
rgba="0.458823529411765 0.447058823529412 0.43921568627451 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="${mesh_path}camera_infra2_optical_frame.STL" />
</geometry>
</collision>
</link>
<joint
name="camera_infra2_optical_frame"
type="fixed">
<origin
xyz="0 0 0"
rpy="-1.5708 0 -1.5708" />
<parent
link="camera_infra2_frame" />
<child
link="camera_infra2_optical_frame" />
<axis
xyz="0 0 0" />
</joint>
<link
name="camera_color_frame">
<inertial>
<origin
xyz="-0.00321027945431743 9.00165896683403E-11 5.37104609194339E-11"
rpy="0 0 0" />
<mass
value="0.00128366060089404" />
<inertia
ixx="2.6533618139805E-08"
ixy="-3.84539876551798E-16"
ixz="6.34689842906247E-16"
iyy="2.41480807907502E-08"
iyz="-1.37568595195541E-14"
izz="2.41486930542313E-08" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="${mesh_path}camera_color_frame.STL" />
</geometry>
<material
name="">
<color
rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="${mesh_path}camera_color_frame.STL" />
</geometry>
</collision>
</link>
<joint
name="camera_color_frame"
type="fixed">
<origin
xyz="-0.0045649 0.008 0"
rpy="0 0 0" />
<parent
link="camera_bottom_screw_frame" />
<child
link="camera_color_frame" />
<axis
xyz="0 0 0" />
</joint>
<link
name="camera_color_optical_frame">
<inertial>
<origin
xyz="-9.00165896683403E-11 -5.37104607204212E-11 -0.00321027945431743"
rpy="0 0 0" />
<mass
value="0.00128366060089404" />
<inertia
ixx="2.41480807907502E-08"
ixy="-1.37568595195541E-14"
ixz="3.84539876614159E-16"
iyy="2.41486930542313E-08"
iyz="-6.34689842868342E-16"
izz="2.6533618139805E-08" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="${mesh_path}camera_color_optical_frame.STL" />
</geometry>
<material
name="">
<color
rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="${mesh_path}camera_color_optical_frame.STL" />
</geometry>
</collision>
</link>
<joint
name="camera_color_optical_frame"
type="fixed">
<origin
xyz="0 0 0"
rpy="-1.5708 0 -1.5708" />
<parent
link="camera_color_frame" />
<child
link="camera_color_optical_frame" />
<axis
xyz="0 0 0" />
</joint>
<link
name="camera_IMU_frame">
<inertial>
<origin
xyz="-0.000500000000000032 -3.46944695195361E-18 4.33680868994202E-19"
rpy="0 0 0" />
<mass
value="1.90463999999998E-05" />
<inertia
ixx="6.35718041599951E-11"
ixy="-6.76392480056357E-28"
ixz="-1.50788132496645E-28"
iyy="4.31946956799972E-11"
iyz="0"
izz="2.35515084799982E-11" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="${mesh_path}camera_IMU_frame.STL" />
</geometry>
<material
name="">
<color
rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="${mesh_path}camera_IMU_frame.STL" />
</geometry>
</collision>
</link>
<joint
name="camera_IMU_frame"
type="fixed">
<origin
xyz="-0.02955 0.019913 -0.0022324"
rpy="0 0 0" />
<parent
link="camera_bottom_screw_frame" />
<child
link="camera_IMU_frame" />
<axis
xyz="0 0 0" />
</joint>
<link
name="camera_depth_frame">
<inertial>
<origin
xyz="-0.00294368828819506 5.00000006675716E-10 -5.94655220374918E-11"
rpy="0 0 0" />
<mass
value="0.000921175541096741" />
<inertia
ixx="1.81535637526192E-08"
ixy="-4.65942125450868E-25"
ixz="-2.81315054239185E-16"
iyy="1.38975394593283E-08"
iyz="-1.13821267214479E-33"
izz="1.38975394593283E-08" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="${mesh_path}camera_depth_frame.STL" />
</geometry>
<material
name="">
<color
rgba="0.458823529411765 0.447058823529412 0.43921568627451 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="${mesh_path}camera_depth_frame.STL" />
</geometry>
</collision>
</link>
<joint
name="camera_depth_frame"
type="fixed">
<origin
xyz="-0.004255 0.044 0"
rpy="0 0 0" />
<parent
link="camera_bottom_screw_frame" />
<child
link="camera_depth_frame" />
<axis
xyz="0 0 0" />
</joint>
</robot>
orbbec_description/urdf/test_gemini345Lg.urdf.xacro
+7
View File
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<?xml version="1.0" encoding="utf-8"?>
<!-- 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
For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
<robot name="gemini345Lg" xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:include filename="gemini345Lg.urdf.xacro"/>
</robot>