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fix: update URDF parameters and mesh files for Gemini 345Lg

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ob-yalian
2026-05-07 15:52:50 +08:00
parent 2cf2b76dbf
commit 5bda785d6d
3 changed files with 48 additions and 48 deletions
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orbbec_description/meshes/gemini345Lg/base_link.STL
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orbbec_description/meshes/gemini345Lg/camera_bottom_screw_frame.STL
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orbbec_description/urdf/gemini345Lg.urdf.xacro
+47 -47
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@@ -8,17 +8,17 @@
name="base_link"> name="base_link">
<inertial> <inertial>
<origin <origin
xyz="-0.0134366415045081 0.00104651333898482 -7.03343267068714E-05" xyz="-0.00892631661319327 -0.0411953623128534 -6.74554835164257E-05"
rpy="0 0 0" /> rpy="0 0 0" />
<mass <mass
value="0.0215844638416589" /> value="0.0225056393827557" />
<inertia <inertia
ixx="3.27367097133559E-05" ixx="3.27548632771085E-05"
ixy="1.00838588052087E-08" ixy="1.00838588052088E-08"
ixz="-1.4724694847835E-10" ixz="-1.47247229793385E-10"
iyy="3.2433989304705E-06" iyy="3.25729646992983E-06"
iyz="-1.75779219489013E-07" iyz="-1.75779219489013E-07"
izz="3.12774671483993E-05" /> izz="3.12913646878586E-05" />
</inertial> </inertial>
<visual> <visual>
<origin <origin
@@ -48,16 +48,16 @@
name="camera_bottom_screw_frame"> name="camera_bottom_screw_frame">
<inertial> <inertial>
<origin <origin
xyz="-0.0350120894657584 -0.00340477075942242 8.70441866524275E-05" xyz="0.00893791053424158 -0.0334047707594224 0.0110870441866524"
rpy="0 0 0" /> rpy="0 0 0" />
<mass <mass
value="0.0173597661958447" /> value="0.0173597661958447" />
<inertia <inertia
ixx="1.88009660853793E-05" ixx="1.88009660853793E-05"
ixy="-4.43021080342314E-07" ixy="-4.43021080342314E-07"
ixz="-2.91588301648928E-09" ixz="-2.9158830164892E-09"
iyy="2.53990333445075E-06" iyy="2.53990333445075E-06"
iyz="-2.8372782100572E-08" iyz="-2.83727821005721E-08"
izz="1.75573510554478E-05" /> izz="1.75573510554478E-05" />
</inertial> </inertial>
<visual> <visual>
@@ -88,7 +88,7 @@
name="camera_bottom_screw_frame" name="camera_bottom_screw_frame"
type="fixed"> type="fixed">
<origin <origin
xyz="0 0 0" xyz="-0.039695 -0.0139999995 -0.011"
rpy="0 0 0" /> rpy="0 0 0" />
<parent <parent
link="base_link" /> link="base_link" />
@@ -101,16 +101,16 @@
name="camera_infra1_frame"> name="camera_infra1_frame">
<inertial> <inertial>
<origin <origin
xyz="-0.00294368828819506 5.00000006675716E-10 -5.94655220111843E-11" xyz="-0.00294368828819507 4.99999992797928E-10 -5.94655219848769E-11"
rpy="0 0 0" /> rpy="0 0 0" />
<mass <mass
value="0.000921175541096741" /> value="0.000921175541096741" />
<inertia <inertia
ixx="1.81535637526191E-08" ixx="1.81535637526192E-08"
ixy="-4.65942125450868E-25" ixy="-3.44693528328977E-25"
ixz="-2.81315054199892E-16" ixz="-2.81315054108964E-16"
iyy="1.38975394593283E-08" iyy="1.38975394593283E-08"
iyz="-1.13821267266512E-33" iyz="-1.0298650842081E-33"
izz="1.38975394593283E-08" /> izz="1.38975394593283E-08" />
</inertial> </inertial>
<visual> <visual>
@@ -141,7 +141,7 @@
name="camera_infra1_frame" name="camera_infra1_frame"
type="fixed"> type="fixed">
<origin <origin
xyz="-0.004255 0.044 0" xyz="0.039695 0.0139999995 0.011"
rpy="0 0 0" /> rpy="0 0 0" />
<parent <parent
link="camera_bottom_screw_frame" /> link="camera_bottom_screw_frame" />
@@ -154,17 +154,17 @@
name="camera_infra1_optical_frame"> name="camera_infra1_optical_frame">
<inertial> <inertial>
<origin <origin
xyz="-5.00000006675716E-10 5.94655220374918E-11 -0.00294368828819506" xyz="-5.00000006675716E-10 5.94655219568156E-11 -0.00294368828819506"
rpy="0 0 0" /> rpy="0 0 0" />
<mass <mass
value="0.000921175541096741" /> value="0.000921175541096742" />
<inertia <inertia
ixx="1.38975394593283E-08" ixx="1.38975394593283E-08"
ixy="-1.13821267159089E-33" ixy="-1.02986508493708E-33"
ixz="4.65942125450868E-25" ixz="3.44693528328977E-25"
iyy="1.38975394593283E-08" iyy="1.38975394593283E-08"
iyz="2.8131505422727E-16" iyz="2.8131505422727E-16"
izz="1.81535637526191E-08" /> izz="1.81535637526192E-08" />
</inertial> </inertial>
<visual> <visual>
<origin <origin
@@ -195,7 +195,7 @@
type="fixed"> type="fixed">
<origin <origin
xyz="0 0 0" xyz="0 0 0"
rpy="-1.5708 0 -1.5708" /> rpy="-1.5707963267949 0 -1.5707963267949" />
<parent <parent
link="camera_infra1_frame" /> link="camera_infra1_frame" />
<child <child
@@ -207,16 +207,16 @@
name="camera_infra2_frame"> name="camera_infra2_frame">
<inertial> <inertial>
<origin <origin
xyz="-0.00294368828819506 0 -5.5946552198084E-10" xyz="-0.00294368828819506 0 -5.59465521922963E-10"
rpy="0 0 0" /> rpy="0 0 0" />
<mass <mass
value="0.000921175541096741" /> value="0.000921175541096741" />
<inertia <inertia
ixx="1.81535637526192E-08" ixx="1.81535637526192E-08"
ixy="-4.65942125450868E-25" ixy="-3.44693528328977E-25"
ixz="-2.8131505407876E-16" ixz="-2.81315054152356E-16"
iyy="1.38975394593283E-08" iyy="1.38975394593283E-08"
iyz="-1.13821267070129E-33" iyz="-1.02986508510413E-33"
izz="1.38975394593283E-08" /> izz="1.38975394593283E-08" />
</inertial> </inertial>
<visual> <visual>
@@ -247,7 +247,7 @@
name="camera_infra2_frame" name="camera_infra2_frame"
type="fixed"> type="fixed">
<origin <origin
xyz="-0.004255 -0.044 0" xyz="0.039695 -0.074 0.0110000005"
rpy="0 0 0" /> rpy="0 0 0" />
<parent <parent
link="camera_bottom_screw_frame" /> link="camera_bottom_screw_frame" />
@@ -260,16 +260,16 @@
name="camera_infra2_optical_frame"> name="camera_infra2_optical_frame">
<inertial> <inertial>
<origin <origin
xyz="0 5.59465522005393E-10 -0.00294368828819506" xyz="0 5.59465521977332E-10 -0.00294368828819506"
rpy="0 0 0" /> rpy="0 0 0" />
<mass <mass
value="0.000921175541096741" /> value="0.000921175541096741" />
<inertia <inertia
ixx="1.38975394593283E-08" ixx="1.38975394593283E-08"
ixy="-1.13821267174195E-33" ixy="-1.02986508413216E-33"
ixz="4.65942125450868E-25" ixz="3.44693528328977E-25"
iyy="1.38975394593283E-08" iyy="1.38975394593283E-08"
iyz="2.81315054258919E-16" iyz="2.8131505407876E-16"
izz="1.81535637526192E-08" /> izz="1.81535637526192E-08" />
</inertial> </inertial>
<visual> <visual>
@@ -301,7 +301,7 @@
type="fixed"> type="fixed">
<origin <origin
xyz="0 0 0" xyz="0 0 0"
rpy="-1.5708 0 -1.5708" /> rpy="-1.5707963267949 0 -1.5707963267949" />
<parent <parent
link="camera_infra2_frame" /> link="camera_infra2_frame" />
<child <child
@@ -313,14 +313,14 @@
name="camera_color_frame"> name="camera_color_frame">
<inertial> <inertial>
<origin <origin
xyz="-0.00321027945431743 9.00165896683403E-11 5.37104609194339E-11" xyz="-0.00321027945431743 9.00165896683403E-11 5.37104607625836E-11"
rpy="0 0 0" /> rpy="0 0 0" />
<mass <mass
value="0.00128366060089404" /> value="0.00128366060089404" />
<inertia <inertia
ixx="2.6533618139805E-08" ixx="2.6533618139805E-08"
ixy="-3.84539876551798E-16" ixy="-3.84539876604891E-16"
ixz="6.34689842906247E-16" ixz="6.34689842973081E-16"
iyy="2.41480807907502E-08" iyy="2.41480807907502E-08"
iyz="-1.37568595195541E-14" iyz="-1.37568595195541E-14"
izz="2.41486930542313E-08" /> izz="2.41486930542313E-08" />
@@ -353,7 +353,7 @@
name="camera_color_frame" name="camera_color_frame"
type="fixed"> type="fixed">
<origin <origin
xyz="-0.0045649 0.008 0" xyz="0.0393851 -0.022 0.011"
rpy="0 0 0" /> rpy="0 0 0" />
<parent <parent
link="camera_bottom_screw_frame" /> link="camera_bottom_screw_frame" />
@@ -366,16 +366,16 @@
name="camera_color_optical_frame"> name="camera_color_optical_frame">
<inertial> <inertial>
<origin <origin
xyz="-9.00165896683403E-11 -5.37104607204212E-11 -0.00321027945431743" xyz="-9.00165896683403E-11 -5.37104609114104E-11 -0.00321027945431743"
rpy="0 0 0" /> rpy="0 0 0" />
<mass <mass
value="0.00128366060089404" /> value="0.00128366060089404" />
<inertia <inertia
ixx="2.41480807907502E-08" ixx="2.41480807907502E-08"
ixy="-1.37568595195541E-14" ixy="-1.37568595195541E-14"
ixz="3.84539876614159E-16" ixz="3.84539876573512E-16"
iyy="2.41486930542313E-08" iyy="2.41486930542313E-08"
iyz="-6.34689842868342E-16" iyz="-6.34689842767368E-16"
izz="2.6533618139805E-08" /> izz="2.6533618139805E-08" />
</inertial> </inertial>
<visual> <visual>
@@ -407,7 +407,7 @@
type="fixed"> type="fixed">
<origin <origin
xyz="0 0 0" xyz="0 0 0"
rpy="-1.5708 0 -1.5708" /> rpy="-1.5707963267949 0 -1.5707963267949" />
<parent <parent
link="camera_color_frame" /> link="camera_color_frame" />
<child <child
@@ -459,7 +459,7 @@
name="camera_IMU_frame" name="camera_IMU_frame"
type="fixed"> type="fixed">
<origin <origin
xyz="-0.02955 0.019913 -0.0022324" xyz="0.0144000000000001 -0.0100874 0.0087676"
rpy="0 0 0" /> rpy="0 0 0" />
<parent <parent
link="camera_bottom_screw_frame" /> link="camera_bottom_screw_frame" />
@@ -472,16 +472,16 @@
name="camera_depth_frame"> name="camera_depth_frame">
<inertial> <inertial>
<origin <origin
xyz="-0.00294368828819506 5.00000006675716E-10 -5.94655220374918E-11" xyz="-0.00294368828819507 4.99999992797928E-10 -5.9465521983123E-11"
rpy="0 0 0" /> rpy="0 0 0" />
<mass <mass
value="0.000921175541096741" /> value="0.000921175541096741" />
<inertia <inertia
ixx="1.81535637526192E-08" ixx="1.81535637526192E-08"
ixy="-4.65942125450868E-25" ixy="-3.44693528328977E-25"
ixz="-2.81315054239185E-16" ixz="-2.8131505413785E-16"
iyy="1.38975394593283E-08" iyy="1.38975394593283E-08"
iyz="-1.13821267214479E-33" iyz="-1.02986508542306E-33"
izz="1.38975394593283E-08" /> izz="1.38975394593283E-08" />
</inertial> </inertial>
<visual> <visual>
@@ -512,7 +512,7 @@
name="camera_depth_frame" name="camera_depth_frame"
type="fixed"> type="fixed">
<origin <origin
xyz="-0.004255 0.044 0" xyz="0.039695 0.0139999995 0.011"
rpy="0 0 0" /> rpy="0 0 0" />
<parent <parent
link="camera_bottom_screw_frame" /> link="camera_bottom_screw_frame" />