diff --git a/orbbec_description/meshes/gemini345Lg/base_link.STL b/orbbec_description/meshes/gemini345Lg/base_link.STL
index 2a0398c1..159332ac 100644
Binary files a/orbbec_description/meshes/gemini345Lg/base_link.STL and b/orbbec_description/meshes/gemini345Lg/base_link.STL differ
diff --git a/orbbec_description/meshes/gemini345Lg/camera_bottom_screw_frame.STL b/orbbec_description/meshes/gemini345Lg/camera_bottom_screw_frame.STL
index 9ff64743..b023082e 100644
Binary files a/orbbec_description/meshes/gemini345Lg/camera_bottom_screw_frame.STL and b/orbbec_description/meshes/gemini345Lg/camera_bottom_screw_frame.STL differ
diff --git a/orbbec_description/urdf/gemini345Lg.urdf.xacro b/orbbec_description/urdf/gemini345Lg.urdf.xacro
index e6bfeeb7..305749e1 100644
--- a/orbbec_description/urdf/gemini345Lg.urdf.xacro
+++ b/orbbec_description/urdf/gemini345Lg.urdf.xacro
@@ -8,17 +8,17 @@
     name="base_link">
     <inertial>
       <origin
-        xyz="-0.0134366415045081 0.00104651333898482 -7.03343267068714E-05"
+        xyz="-0.00892631661319327 -0.0411953623128534 -6.74554835164257E-05"
         rpy="0 0 0" />
       <mass
-        value="0.0215844638416589" />
+        value="0.0225056393827557" />
       <inertia
-        ixx="3.27367097133559E-05"
-        ixy="1.00838588052087E-08"
-        ixz="-1.4724694847835E-10"
-        iyy="3.2433989304705E-06"
+        ixx="3.27548632771085E-05"
+        ixy="1.00838588052088E-08"
+        ixz="-1.47247229793385E-10"
+        iyy="3.25729646992983E-06"
         iyz="-1.75779219489013E-07"
-        izz="3.12774671483993E-05" />
+        izz="3.12913646878586E-05" />
     </inertial>
     <visual>
       <origin
@@ -48,16 +48,16 @@
     name="camera_bottom_screw_frame">
     <inertial>
       <origin
-        xyz="-0.0350120894657584 -0.00340477075942242 8.70441866524275E-05"
+        xyz="0.00893791053424158 -0.0334047707594224 0.0110870441866524"
         rpy="0 0 0" />
       <mass
         value="0.0173597661958447" />
       <inertia
         ixx="1.88009660853793E-05"
         ixy="-4.43021080342314E-07"
-        ixz="-2.91588301648928E-09"
+        ixz="-2.9158830164892E-09"
         iyy="2.53990333445075E-06"
-        iyz="-2.8372782100572E-08"
+        iyz="-2.83727821005721E-08"
         izz="1.75573510554478E-05" />
     </inertial>
     <visual>
@@ -88,7 +88,7 @@
     name="camera_bottom_screw_frame"
     type="fixed">
     <origin
-      xyz="0 0 0"
+      xyz="-0.039695 -0.0139999995 -0.011"
       rpy="0 0 0" />
     <parent
       link="base_link" />
@@ -101,16 +101,16 @@
     name="camera_infra1_frame">
     <inertial>
       <origin
-        xyz="-0.00294368828819506 5.00000006675716E-10 -5.94655220111843E-11"
+        xyz="-0.00294368828819507 4.99999992797928E-10 -5.94655219848769E-11"
         rpy="0 0 0" />
       <mass
         value="0.000921175541096741" />
       <inertia
-        ixx="1.81535637526191E-08"
-        ixy="-4.65942125450868E-25"
-        ixz="-2.81315054199892E-16"
+        ixx="1.81535637526192E-08"
+        ixy="-3.44693528328977E-25"
+        ixz="-2.81315054108964E-16"
         iyy="1.38975394593283E-08"
-        iyz="-1.13821267266512E-33"
+        iyz="-1.0298650842081E-33"
         izz="1.38975394593283E-08" />
     </inertial>
     <visual>
@@ -141,7 +141,7 @@
     name="camera_infra1_frame"
     type="fixed">
     <origin
-      xyz="-0.004255 0.044 0"
+      xyz="0.039695 0.0139999995 0.011"
       rpy="0 0 0" />
     <parent
       link="camera_bottom_screw_frame" />
@@ -154,17 +154,17 @@
     name="camera_infra1_optical_frame">
     <inertial>
       <origin
-        xyz="-5.00000006675716E-10 5.94655220374918E-11 -0.00294368828819506"
+        xyz="-5.00000006675716E-10 5.94655219568156E-11 -0.00294368828819506"
         rpy="0 0 0" />
       <mass
-        value="0.000921175541096741" />
+        value="0.000921175541096742" />
       <inertia
         ixx="1.38975394593283E-08"
-        ixy="-1.13821267159089E-33"
-        ixz="4.65942125450868E-25"
+        ixy="-1.02986508493708E-33"
+        ixz="3.44693528328977E-25"
         iyy="1.38975394593283E-08"
         iyz="2.8131505422727E-16"
-        izz="1.81535637526191E-08" />
+        izz="1.81535637526192E-08" />
     </inertial>
     <visual>
       <origin
@@ -195,7 +195,7 @@
     type="fixed">
     <origin
       xyz="0 0 0"
-      rpy="-1.5708 0 -1.5708" />
+      rpy="-1.5707963267949 0 -1.5707963267949" />
     <parent
       link="camera_infra1_frame" />
     <child
@@ -207,16 +207,16 @@
     name="camera_infra2_frame">
     <inertial>
       <origin
-        xyz="-0.00294368828819506 0 -5.5946552198084E-10"
+        xyz="-0.00294368828819506 0 -5.59465521922963E-10"
         rpy="0 0 0" />
       <mass
         value="0.000921175541096741" />
       <inertia
         ixx="1.81535637526192E-08"
-        ixy="-4.65942125450868E-25"
-        ixz="-2.8131505407876E-16"
+        ixy="-3.44693528328977E-25"
+        ixz="-2.81315054152356E-16"
         iyy="1.38975394593283E-08"
-        iyz="-1.13821267070129E-33"
+        iyz="-1.02986508510413E-33"
         izz="1.38975394593283E-08" />
     </inertial>
     <visual>
@@ -247,7 +247,7 @@
     name="camera_infra2_frame"
     type="fixed">
     <origin
-      xyz="-0.004255 -0.044 0"
+      xyz="0.039695 -0.074 0.0110000005"
       rpy="0 0 0" />
     <parent
       link="camera_bottom_screw_frame" />
@@ -260,16 +260,16 @@
     name="camera_infra2_optical_frame">
     <inertial>
       <origin
-        xyz="0 5.59465522005393E-10 -0.00294368828819506"
+        xyz="0 5.59465521977332E-10 -0.00294368828819506"
         rpy="0 0 0" />
       <mass
         value="0.000921175541096741" />
       <inertia
         ixx="1.38975394593283E-08"
-        ixy="-1.13821267174195E-33"
-        ixz="4.65942125450868E-25"
+        ixy="-1.02986508413216E-33"
+        ixz="3.44693528328977E-25"
         iyy="1.38975394593283E-08"
-        iyz="2.81315054258919E-16"
+        iyz="2.8131505407876E-16"
         izz="1.81535637526192E-08" />
     </inertial>
     <visual>
@@ -301,7 +301,7 @@
     type="fixed">
     <origin
       xyz="0 0 0"
-      rpy="-1.5708 0 -1.5708" />
+      rpy="-1.5707963267949 0 -1.5707963267949" />
     <parent
       link="camera_infra2_frame" />
     <child
@@ -313,14 +313,14 @@
     name="camera_color_frame">
     <inertial>
       <origin
-        xyz="-0.00321027945431743 9.00165896683403E-11 5.37104609194339E-11"
+        xyz="-0.00321027945431743 9.00165896683403E-11 5.37104607625836E-11"
         rpy="0 0 0" />
       <mass
         value="0.00128366060089404" />
       <inertia
         ixx="2.6533618139805E-08"
-        ixy="-3.84539876551798E-16"
-        ixz="6.34689842906247E-16"
+        ixy="-3.84539876604891E-16"
+        ixz="6.34689842973081E-16"
         iyy="2.41480807907502E-08"
         iyz="-1.37568595195541E-14"
         izz="2.41486930542313E-08" />
@@ -353,7 +353,7 @@
     name="camera_color_frame"
     type="fixed">
     <origin
-      xyz="-0.0045649 0.008 0"
+      xyz="0.0393851 -0.022 0.011"
       rpy="0 0 0" />
     <parent
       link="camera_bottom_screw_frame" />
@@ -366,16 +366,16 @@
     name="camera_color_optical_frame">
     <inertial>
       <origin
-        xyz="-9.00165896683403E-11 -5.37104607204212E-11 -0.00321027945431743"
+        xyz="-9.00165896683403E-11 -5.37104609114104E-11 -0.00321027945431743"
         rpy="0 0 0" />
       <mass
         value="0.00128366060089404" />
       <inertia
         ixx="2.41480807907502E-08"
         ixy="-1.37568595195541E-14"
-        ixz="3.84539876614159E-16"
+        ixz="3.84539876573512E-16"
         iyy="2.41486930542313E-08"
-        iyz="-6.34689842868342E-16"
+        iyz="-6.34689842767368E-16"
         izz="2.6533618139805E-08" />
     </inertial>
     <visual>
@@ -407,7 +407,7 @@
     type="fixed">
     <origin
       xyz="0 0 0"
-      rpy="-1.5708 0 -1.5708" />
+      rpy="-1.5707963267949 0 -1.5707963267949" />
     <parent
       link="camera_color_frame" />
     <child
@@ -459,7 +459,7 @@
     name="camera_IMU_frame"
     type="fixed">
     <origin
-      xyz="-0.02955 0.019913 -0.0022324"
+      xyz="0.0144000000000001 -0.0100874 0.0087676"
       rpy="0 0 0" />
     <parent
       link="camera_bottom_screw_frame" />
@@ -472,16 +472,16 @@
     name="camera_depth_frame">
     <inertial>
       <origin
-        xyz="-0.00294368828819506 5.00000006675716E-10 -5.94655220374918E-11"
+        xyz="-0.00294368828819507 4.99999992797928E-10 -5.9465521983123E-11"
         rpy="0 0 0" />
       <mass
         value="0.000921175541096741" />
       <inertia
         ixx="1.81535637526192E-08"
-        ixy="-4.65942125450868E-25"
-        ixz="-2.81315054239185E-16"
+        ixy="-3.44693528328977E-25"
+        ixz="-2.8131505413785E-16"
         iyy="1.38975394593283E-08"
-        iyz="-1.13821267214479E-33"
+        iyz="-1.02986508542306E-33"
         izz="1.38975394593283E-08" />
     </inertial>
     <visual>
@@ -512,7 +512,7 @@
     name="camera_depth_frame"
     type="fixed">
     <origin
-      xyz="-0.004255 0.044 0"
+      xyz="0.039695 0.0139999995 0.011"
       rpy="0 0 0" />
     <parent
       link="camera_bottom_screw_frame" />
@@ -521,4 +521,4 @@
     <axis
       xyz="0 0 0" />
   </joint>
-</robot>
+</robot>
\ No newline at end of file