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fix: update joint configurations and link references in URDF for Gemini 345Lg

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This commit is contained in:
ob-yalian
2026-05-07 16:33:57 +08:00
parent 0223e5445d
commit 73d4b65ff3
1 changed files with 15 additions and 15 deletions
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orbbec_description/urdf/gemini345Lg.urdf.xacro
+15 -15
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@@ -85,15 +85,15 @@
</collision> </collision>
</link> </link>
<joint <joint
name="camera_bottom_screw_frame" name="camera_link_joint"
type="fixed"> type="fixed">
<origin <origin
xyz="-0.039695 -0.0139999995 -0.011" xyz="0.039695 0.0139999995 0.011"
rpy="0 0 0" /> rpy="0 0 0" />
<parent <parent
link="camera_link" />
<child
link="camera_bottom_screw_frame" /> link="camera_bottom_screw_frame" />
<child
link="camera_link" />
<axis <axis
xyz="0 0 0" /> xyz="0 0 0" />
</joint> </joint>
@@ -141,10 +141,10 @@
name="camera_left_ir_frame" name="camera_left_ir_frame"
type="fixed"> type="fixed">
<origin <origin
xyz="0.039695 0.0139999995 0.011" xyz="0 0 0"
rpy="0 0 0" /> rpy="0 0 0" />
<parent <parent
link="camera_bottom_screw_frame" /> link="camera_depth_frame" />
<child <child
link="camera_left_ir_frame" /> link="camera_left_ir_frame" />
<axis <axis
@@ -247,10 +247,10 @@
name="camera_right_ir_frame" name="camera_right_ir_frame"
type="fixed"> type="fixed">
<origin <origin
xyz="0.039695 -0.074 0.0110000005" xyz="0 -0.088 0"
rpy="0 0 0" /> rpy="0 0 0" />
<parent <parent
link="camera_bottom_screw_frame" /> link="camera_depth_frame" />
<child <child
link="camera_right_ir_frame" /> link="camera_right_ir_frame" />
<axis <axis
@@ -353,10 +353,10 @@
name="camera_color_frame" name="camera_color_frame"
type="fixed"> type="fixed">
<origin <origin
xyz="0.0393851 -0.022 0.011" xyz="-0.0003099 -0.036 0"
rpy="0 0 0" /> rpy="0 0 0" />
<parent <parent
link="camera_bottom_screw_frame" /> link="camera_depth_frame" />
<child <child
link="camera_color_frame" /> link="camera_color_frame" />
<axis <axis
@@ -459,10 +459,10 @@
name="camera_IMU_frame" name="camera_IMU_frame"
type="fixed"> type="fixed">
<origin <origin
xyz="0.0144000000000001 -0.0100874 0.0087676" xyz="-0.025295 -0.0240874 -0.0022324"
rpy="0 0 0" /> rpy="0 0 0" />
<parent <parent
link="camera_bottom_screw_frame" /> link="camera_depth_frame" />
<child <child
link="camera_IMU_frame" /> link="camera_IMU_frame" />
<axis <axis
@@ -512,13 +512,13 @@
name="camera_depth_frame" name="camera_depth_frame"
type="fixed"> type="fixed">
<origin <origin
xyz="0.039695 0.0139999995 0.011" xyz="0 0 0"
rpy="0 0 0" /> rpy="0 0 0" />
<parent <parent
link="camera_bottom_screw_frame" /> link="camera_link" />
<child <child
link="camera_depth_frame" /> link="camera_depth_frame" />
<axis <axis
xyz="0 0 0" /> xyz="0 0 0" />
</joint> </joint>
</robot> </robot>