From 73d4b65ff3bf1d70ba6b1e6b8811f019dcf0a73c Mon Sep 17 00:00:00 2001
From: ob-yalian <luotao2025@163.com>
Date: Thu, 7 May 2026 16:33:57 +0800
Subject: [PATCH] fix: update joint configurations and link references in URDF
 for Gemini 345Lg

---
 .../urdf/gemini345Lg.urdf.xacro               | 30 +++++++++----------
 1 file changed, 15 insertions(+), 15 deletions(-)

diff --git a/orbbec_description/urdf/gemini345Lg.urdf.xacro b/orbbec_description/urdf/gemini345Lg.urdf.xacro
index c6d9d69e..0286d640 100644
--- a/orbbec_description/urdf/gemini345Lg.urdf.xacro
+++ b/orbbec_description/urdf/gemini345Lg.urdf.xacro
@@ -85,15 +85,15 @@
     </collision>
   </link>
   <joint
-    name="camera_bottom_screw_frame"
+    name="camera_link_joint"
     type="fixed">
     <origin
-      xyz="-0.039695 -0.0139999995 -0.011"
+      xyz="0.039695 0.0139999995 0.011"
       rpy="0 0 0" />
     <parent
-      link="camera_link" />
-    <child
       link="camera_bottom_screw_frame" />
+    <child
+      link="camera_link" />
     <axis
       xyz="0 0 0" />
   </joint>
@@ -141,10 +141,10 @@
     name="camera_left_ir_frame"
     type="fixed">
     <origin
-      xyz="0.039695 0.0139999995 0.011"
+      xyz="0 0 0"
       rpy="0 0 0" />
     <parent
-      link="camera_bottom_screw_frame" />
+      link="camera_depth_frame" />
     <child
       link="camera_left_ir_frame" />
     <axis
@@ -247,10 +247,10 @@
     name="camera_right_ir_frame"
     type="fixed">
     <origin
-      xyz="0.039695 -0.074 0.0110000005"
+      xyz="0 -0.088 0"
       rpy="0 0 0" />
     <parent
-      link="camera_bottom_screw_frame" />
+      link="camera_depth_frame" />
     <child
       link="camera_right_ir_frame" />
     <axis
@@ -353,10 +353,10 @@
     name="camera_color_frame"
     type="fixed">
     <origin
-      xyz="0.0393851 -0.022 0.011"
+      xyz="-0.0003099 -0.036 0"
       rpy="0 0 0" />
     <parent
-      link="camera_bottom_screw_frame" />
+      link="camera_depth_frame" />
     <child
       link="camera_color_frame" />
     <axis
@@ -459,10 +459,10 @@
     name="camera_IMU_frame"
     type="fixed">
     <origin
-      xyz="0.0144000000000001 -0.0100874 0.0087676"
+      xyz="-0.025295 -0.0240874 -0.0022324"
       rpy="0 0 0" />
     <parent
-      link="camera_bottom_screw_frame" />
+      link="camera_depth_frame" />
     <child
       link="camera_IMU_frame" />
     <axis
@@ -512,13 +512,13 @@
     name="camera_depth_frame"
     type="fixed">
     <origin
-      xyz="0.039695 0.0139999995 0.011"
+      xyz="0 0 0"
       rpy="0 0 0" />
     <parent
-      link="camera_bottom_screw_frame" />
+      link="camera_link" />
     <child
       link="camera_depth_frame" />
     <axis
       xyz="0 0 0" />
   </joint>
-</robot>
\ No newline at end of file
+</robot>