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fix: adjust joint origins and remove redundant visual/collision elements in URDF for Gemini 305

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ob-yalian
2026-06-05 18:46:29 +08:00
parent 0d78727f78
commit 66994ed60d
1 changed files with 10 additions and 33 deletions
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orbbec_description/urdf/gemini305.urdf.xacro
+10 -33
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@@ -20,29 +20,6 @@
iyz="-9.63634999610215E-09" iyz="-9.63634999610215E-09"
izz="3.76189543642479E-06" /> izz="3.76189543642479E-06" />
</inertial> </inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 1.570796326794897" />
<geometry>
<mesh
filename="${mesh_path}base_link.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 0.945098039215686 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 1.570796326794897" />
<geometry>
<mesh
filename="${mesh_path}base_link.STL" />
</geometry>
</collision>
</link> </link>
<link <link
name="RGB_R"> name="RGB_R">
@@ -88,7 +65,7 @@
name="RGB_R" name="RGB_R"
type="fixed"> type="fixed">
<origin <origin
xyz="-0.008999999999889 0.008126703388352 -0.0210000000000001" xyz="0.008126703388352 0.008999999999889 0.0210000000000001"
rpy="0 0 0" /> rpy="0 0 0" />
<parent <parent
link="base_link" /> link="base_link" />
@@ -141,7 +118,7 @@
name="RGB_L" name="RGB_L"
type="fixed"> type="fixed">
<origin <origin
xyz="0.009000000000111 0.008126703388352 -0.0210000000000001" xyz="0.008126703388352 -0.009000000000111 0.0210000000000001"
rpy="0 0 0" /> rpy="0 0 0" />
<parent <parent
link="base_link" /> link="base_link" />
@@ -194,7 +171,7 @@
name="USB" name="USB"
type="fixed"> type="fixed">
<origin <origin
xyz="0.014700000000115 -0.00261829661165068 -0.0209999999999719" xyz="-0.00261829661165068 -0.014700000000115 0.0209999999999719"
rpy="0 0 0" /> rpy="0 0 0" />
<parent <parent
link="base_link" /> link="base_link" />
@@ -222,7 +199,7 @@
<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="${mesh_path}camera_rear_screw_R.STL" /> filename="${mesh_path}camera_rear_screw_R.STL" />
@@ -247,7 +224,7 @@
name="camera_rear_screw_R" name="camera_rear_screw_R"
type="fixed"> type="fixed">
<origin <origin
xyz="-0.00999680631556896 -0.01091969797964 -0.0209990315919259" xyz="-0.01091969797964 0.00999680631556896 0.0209990315919259"
rpy="0 0 0" /> rpy="0 0 0" />
<parent <parent
link="base_link" /> link="base_link" />
@@ -275,7 +252,7 @@
<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="${mesh_path}camera_rear_screw_L.STL" /> filename="${mesh_path}camera_rear_screw_L.STL" />
@@ -289,7 +266,7 @@
<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="${mesh_path}camera_rear_screw_L.STL" /> filename="${mesh_path}camera_rear_screw_L.STL" />
@@ -300,7 +277,7 @@
name="camera_rear_screw_L" name="camera_rear_screw_L"
type="fixed"> type="fixed">
<origin <origin
xyz="0.0100031936844311 -0.01091969797964 -0.0209990315919259" xyz="-0.01091969797964 -0.0100031936844311 0.0209990315919259"
rpy="0 0 0" /> rpy="0 0 0" />
<parent <parent
link="base_link" /> link="base_link" />
@@ -328,7 +305,7 @@
<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="${mesh_path}camera_bottom_screw.STL" /> filename="${mesh_path}camera_bottom_screw.STL" />
@@ -342,7 +319,7 @@
<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="${mesh_path}camera_bottom_screw.STL" /> filename="${mesh_path}camera_bottom_screw.STL" />