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fix: update joint rotation values in URDF for Gemini 305, 309 models

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This commit is contained in:
ob-yalian
2026-06-06 15:15:23 +08:00
parent a16ae81784
commit 4a6e292fcd
3 changed files with 12 additions and 12 deletions
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orbbec_description/urdf/gemini305.urdf.xacro
+4 -4
View File
@@ -68,7 +68,7 @@
<visual> <visual>
<origin <origin
xyz="0 0 0" xyz="0 0 0"
rpy="0 0 1.570796326794897" /> rpy="3.141592653589793 0 1.570796326794897" />
<geometry> <geometry>
<mesh <mesh
filename="${mesh_path}RGB_R.STL" /> filename="${mesh_path}RGB_R.STL" />
@@ -82,7 +82,7 @@
<collision> <collision>
<origin <origin
xyz="0 0 0" xyz="0 0 0"
rpy="0 0 1.570796326794897" /> rpy="3.141592653589793 0 1.570796326794897" />
<geometry> <geometry>
<mesh <mesh
filename="${mesh_path}RGB_R.STL" /> filename="${mesh_path}RGB_R.STL" />
@@ -121,7 +121,7 @@
<visual> <visual>
<origin <origin
xyz="0 0 0" xyz="0 0 0"
rpy="0 0 1.570796326794897" /> rpy="3.141592653589793 0 1.570796326794897" />
<geometry> <geometry>
<mesh <mesh
filename="${mesh_path}RGB_L.STL" /> filename="${mesh_path}RGB_L.STL" />
@@ -135,7 +135,7 @@
<collision> <collision>
<origin <origin
xyz="0 0 0" xyz="0 0 0"
rpy="0 0 1.570796326794897" /> rpy="3.141592653589793 0 1.570796326794897" />
<geometry> <geometry>
<mesh <mesh
filename="${mesh_path}RGB_L.STL" /> filename="${mesh_path}RGB_L.STL" />
orbbec_description/urdf/gemini305_g.urdf.xacro
+4 -4
View File
@@ -131,7 +131,7 @@
<visual> <visual>
<origin <origin
xyz="0 0 0" xyz="0 0 0"
rpy="0 0 1.570796326794897" /> rpy="3.141592653589793 0 1.570796326794897" />
<geometry> <geometry>
<mesh <mesh
filename="${mesh_path}RGB_R.STL" /> filename="${mesh_path}RGB_R.STL" />
@@ -145,7 +145,7 @@
<collision> <collision>
<origin <origin
xyz="0 0 0" xyz="0 0 0"
rpy="0 0 1.570796326794897" /> rpy="3.141592653589793 0 1.570796326794897" />
<geometry> <geometry>
<mesh <mesh
filename="${mesh_path}RGB_R.STL" /> filename="${mesh_path}RGB_R.STL" />
@@ -184,7 +184,7 @@
<visual> <visual>
<origin <origin
xyz="0 0 0" xyz="0 0 0"
rpy="0 0 1.570796326794897" /> rpy="3.141592653589793 0 1.570796326794897" />
<geometry> <geometry>
<mesh <mesh
filename="${mesh_path}RGB_L.STL" /> filename="${mesh_path}RGB_L.STL" />
@@ -198,7 +198,7 @@
<collision> <collision>
<origin <origin
xyz="0 0 0" xyz="0 0 0"
rpy="0 0 1.570796326794897" /> rpy="3.141592653589793 0 1.570796326794897" />
<geometry> <geometry>
<mesh <mesh
filename="${mesh_path}RGB_L.STL" /> filename="${mesh_path}RGB_L.STL" />
orbbec_description/urdf/gemini309_g.urdf.xacro
+4 -4
View File
@@ -108,7 +108,7 @@
<visual> <visual>
<origin <origin
xyz="0 0 0" xyz="0 0 0"
rpy="0 0 1.570796326794897" /> rpy="3.141592653589793 0 1.570796326794897" />
<geometry> <geometry>
<mesh <mesh
filename="${mesh_path}RGB_R.STL" /> filename="${mesh_path}RGB_R.STL" />
@@ -122,7 +122,7 @@
<collision> <collision>
<origin <origin
xyz="0 0 0" xyz="0 0 0"
rpy="0 0 1.570796326794897" /> rpy="3.141592653589793 0 1.570796326794897" />
<geometry> <geometry>
<mesh <mesh
filename="${mesh_path}RGB_R.STL" /> filename="${mesh_path}RGB_R.STL" />
@@ -161,7 +161,7 @@
<visual> <visual>
<origin <origin
xyz="0 0 0" xyz="0 0 0"
rpy="0 0 1.570796326794897" /> rpy="3.141592653589793 0 1.570796326794897" />
<geometry> <geometry>
<mesh <mesh
filename="${mesh_path}RGB_L.STL" /> filename="${mesh_path}RGB_L.STL" />
@@ -175,7 +175,7 @@
<collision> <collision>
<origin <origin
xyz="0 0 0" xyz="0 0 0"
rpy="0 0 1.570796326794897" /> rpy="3.141592653589793 0 1.570796326794897" />
<geometry> <geometry>
<mesh <mesh
filename="${mesh_path}RGB_L.STL" /> filename="${mesh_path}RGB_L.STL" />