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fix: update joint origins and remove redundant visual/collision elements in URDF for Gemini 305 and 309 models

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This commit is contained in:
ob-yalian
2026-06-05 21:05:46 +08:00
parent 7a2246f7d0
commit 81c391387a
2 changed files with 19 additions and 157 deletions
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orbbec_description/urdf/gemini305_g.urdf.xacro
+11 -80
View File
@@ -1,5 +1,5 @@
<?xml version="1.0" encoding="utf-8"?> <?xml version="1.0" encoding="utf-8"?>
<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner ([email protected]) <!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner ([email protected])
Commit Version: 1.6.0-4-g7f85cfe Build Version: 1.6.7995.38578 Commit Version: 1.6.0-4-g7f85cfe Build Version: 1.6.7995.38578
For more information, please see http://wiki.ros.org/sw_urdf_exporter --> For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
<robot xmlns:xacro="http://ros.org/wiki/xacro" name="gemini305_g"> <robot xmlns:xacro="http://ros.org/wiki/xacro" name="gemini305_g">
@@ -20,29 +20,6 @@
iyz="1.05717082804933E-08" iyz="1.05717082804933E-08"
izz="6.08547247005231E-06" /> izz="6.08547247005231E-06" />
</inertial> </inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 1.570796326794897" />
<geometry>
<mesh
filename="${mesh_path}base_link.STL" />
</geometry>
<material
name="">
<color
rgba="0.631372549019608 0.686274509803922 0.749019607843137 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 1.570796326794897" />
<geometry>
<mesh
filename="${mesh_path}base_link.STL" />
</geometry>
</collision>
</link> </link>
<link <link
name="camera_bottom_screw"> name="camera_bottom_screw">
@@ -63,10 +40,10 @@
<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}base_link.STL" />
</geometry> </geometry>
<material <material
name=""> name="">
@@ -77,10 +54,10 @@
<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}base_link.STL" />
</geometry> </geometry>
</collision> </collision>
</link> </link>
@@ -141,7 +118,7 @@
name="RGB_R" name="RGB_R"
type="fixed"> type="fixed">
<origin <origin
xyz="-0.00900395097915 0.008050000000001 -0.0209939609855011" xyz="0.008050000000001 -0.00899604902085 0.0209939609855011"
rpy="0 0 0" /> rpy="0 0 0" />
<parent <parent
link="base_link" /> link="base_link" />
@@ -194,7 +171,7 @@
name="RGB_L" name="RGB_L"
type="fixed"> type="fixed">
<origin <origin
xyz="0.00899604902085 0.008050000000001 -0.0209939609855011" xyz="0.008050000000001 0.00900395097915 0.0209939609855011"
rpy="0 0 0" /> rpy="0 0 0" />
<parent <parent
link="base_link" /> link="base_link" />
@@ -219,35 +196,12 @@
iyz="-2.08275831584529E-14" iyz="-2.08275831584529E-14"
izz="6.96711715818641E-10" /> izz="6.96711715818641E-10" />
</inertial> </inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 1.570796326794897" />
<geometry>
<mesh
filename="${mesh_path}USB.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 1.570796326794897" />
<geometry>
<mesh
filename="${mesh_path}USB.STL" />
</geometry>
</collision>
</link> </link>
<joint <joint
name="USB" name="USB"
type="fixed"> type="fixed">
<origin <origin
xyz="0.014696049020854 -0.00269500000000168 -0.0209939609854729" xyz="-0.00269500000000168 -0.014696049020854 0.0209939609854729"
rpy="0 0 0" /> rpy="0 0 0" />
<parent <parent
link="base_link" /> link="base_link" />
@@ -272,35 +226,12 @@
iyz="-1.12550987680074E-09" iyz="-1.12550987680074E-09"
izz="1.63868643158484E-06" /> izz="1.63868643158484E-06" />
</inertial> </inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 1.570796326794897" />
<geometry>
<mesh
filename="${mesh_path}camera_rear_screw_R.STL" />
</geometry>
<material
name="">
<color
rgba="0.874509803921569 0.945098039215686 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 1.570796326794897" />
<geometry>
<mesh
filename="${mesh_path}camera_rear_screw_R.STL" />
</geometry>
</collision>
</link> </link>
<joint <joint
name="camera_rear_screw_R" name="camera_rear_screw_R"
type="fixed"> type="fixed">
<origin <origin
xyz="-0.00679999999999827 -0.02379999999999 -0.0209900000000301" xyz="-0.02379999999999 -0.00680000000000172 0.0209900000000301"
rpy="0 0 0" /> rpy="0 0 0" />
<parent <parent
link="base_link" /> link="base_link" />
@@ -353,7 +284,7 @@
name="camera_rear_screw_L" name="camera_rear_screw_L"
type="fixed"> type="fixed">
<origin <origin
xyz="0.00680000000000172 -0.02379999999999 -0.0209900000000301" xyz="-0.02379999999999 0.00679999999999827 0.0209900000000301"
rpy="0 0 0" /> rpy="0 0 0" />
<parent <parent
link="base_link" /> link="base_link" />
@@ -406,7 +337,7 @@
name="FAKRA" name="FAKRA"
type="fixed"> type="fixed">
<origin <origin
xyz="0 -0.033409999999996 -0.020993960985498" xyz="-0.033409999999996 0 0.020993960985498"
rpy="0 0 0" /> rpy="0 0 0" />
<parent <parent
link="base_link" /> link="base_link" />
orbbec_description/urdf/gemini309_g.urdf.xacro
+8 -77
View File
@@ -1,5 +1,5 @@
<?xml version="1.0" encoding="utf-8"?> <?xml version="1.0" encoding="utf-8"?>
<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner ([email protected]) <!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner ([email protected])
Commit Version: 1.6.0-4-g7f85cfe Build Version: 1.6.7995.38578 Commit Version: 1.6.0-4-g7f85cfe Build Version: 1.6.7995.38578
For more information, please see http://wiki.ros.org/sw_urdf_exporter --> For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
<robot xmlns:xacro="http://ros.org/wiki/xacro" name="gemini309_g"> <robot xmlns:xacro="http://ros.org/wiki/xacro" name="gemini309_g">
@@ -20,29 +20,6 @@
iyz="-2.67333736513775E-09" iyz="-2.67333736513775E-09"
izz="4.83457340761002E-06" /> izz="4.83457340761002E-06" />
</inertial> </inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 1.570796326794897" />
<geometry>
<mesh
filename="${mesh_path}camera_bottom_screw.STL" />
</geometry>
<material
name="">
<color
rgba="0.631372549019608 0.686274509803922 0.749019607843137 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 1.570796326794897" />
<geometry>
<mesh
filename="${mesh_path}camera_bottom_screw.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="-0.009003950979152 0.008050000000002 -0.0209939609855101" xyz="0.008050000000002 -0.008996049020848 0.0209939609855101"
rpy="0 0 0" /> rpy="0 0 0" />
<parent <parent
link="camera_bottom_screw" /> link="camera_bottom_screw" />
@@ -141,7 +118,7 @@
name="RGB_L" name="RGB_L"
type="fixed"> type="fixed">
<origin <origin
xyz="0.008996049020848 0.008050000000002 -0.0209939609855101" xyz="0.008050000000002 0.009003950979152 0.0209939609855101"
rpy="0 0 0" /> rpy="0 0 0" />
<parent <parent
link="camera_bottom_screw" /> link="camera_bottom_screw" />
@@ -194,7 +171,7 @@
name="USB" name="USB"
type="fixed"> type="fixed">
<origin <origin
xyz="0.014696049020852 -0.00269500000000068 -0.0209939609854819" xyz="-0.00269500000000068 -0.014696049020852 0.0209939609854819"
rpy="0 0 0" /> rpy="0 0 0" />
<parent <parent
link="camera_bottom_screw" /> link="camera_bottom_screw" />
@@ -219,35 +196,12 @@
iyz="-1.12550987680034E-09" iyz="-1.12550987680034E-09"
izz="1.63868643158484E-06" /> izz="1.63868643158484E-06" />
</inertial> </inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 1.570796326794897" />
<geometry>
<mesh
filename="${mesh_path}camera_rear_screw_R.STL" />
</geometry>
<material
name="">
<color
rgba="0.874509803921569 0.945098039215686 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 1.570796326794897" />
<geometry>
<mesh
filename="${mesh_path}camera_rear_screw_R.STL" />
</geometry>
</collision>
</link> </link>
<joint <joint
name="camera_rear_screw_R" name="camera_rear_screw_R"
type="fixed"> type="fixed">
<origin <origin
xyz="-0.00680000000000851 -0.0137999999999964 -0.0209900000000397" xyz="-0.0137999999999964 -0.00679999999999149 0.0209900000000397"
rpy="0 0 0" /> rpy="0 0 0" />
<parent <parent
link="camera_bottom_screw" /> link="camera_bottom_screw" />
@@ -272,35 +226,12 @@
iyz="-1.12550987680032E-09" iyz="-1.12550987680032E-09"
izz="1.63868643158484E-06" /> izz="1.63868643158484E-06" />
</inertial> </inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 1.570796326794897" />
<geometry>
<mesh
filename="${mesh_path}camera_rear_screw_L.STL" />
</geometry>
<material
name="">
<color
rgba="0.874509803921569 0.945098039215686 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 1.570796326794897" />
<geometry>
<mesh
filename="${mesh_path}camera_rear_screw_L.STL" />
</geometry>
</collision>
</link> </link>
<joint <joint
name="camera_rear_screw_L" name="camera_rear_screw_L"
type="fixed"> type="fixed">
<origin <origin
xyz="0.00679999999999149 -0.0137999999999964 -0.0209900000000397" xyz="-0.0137999999999964 0.00680000000000851 0.0209900000000397"
rpy="0 0 0" /> rpy="0 0 0" />
<parent <parent
link="camera_bottom_screw" /> link="camera_bottom_screw" />
@@ -328,7 +259,7 @@
<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="${mesh_path}FAKRA.STL" /> filename="${mesh_path}FAKRA.STL" />
@@ -353,7 +284,7 @@
name="FAKRA" name="FAKRA"
type="fixed"> type="fixed">
<origin <origin
xyz="0 -0.0234099999999966 -0.0209939609855071" xyz="-0.0234099999999966 0 0.0209939609855071"
rpy="0 0 0" /> rpy="0 0 0" />
<parent <parent
link="camera_bottom_screw" /> link="camera_bottom_screw" />