diff --git a/orbbec_description/urdf/gemini305.urdf.xacro b/orbbec_description/urdf/gemini_305.urdf.xacro
similarity index 99%
rename from orbbec_description/urdf/gemini305.urdf.xacro
rename to orbbec_description/urdf/gemini_305.urdf.xacro
index 3084170b..678daeff 100644
--- a/orbbec_description/urdf/gemini305.urdf.xacro
+++ b/orbbec_description/urdf/gemini_305.urdf.xacro
@@ -2,7 +2,7 @@
 <!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com)
      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 -->
-<robot xmlns:xacro="http://ros.org/wiki/xacro" name="gemini305">
+<robot xmlns:xacro="http://ros.org/wiki/xacro" name="gemini_305">
   <xacro:property name="mesh_path" value="package://orbbec_description/meshes/gemini305/" />
   <link
     name="camera_link" />
diff --git a/orbbec_description/urdf/gemini305_g.urdf.xacro b/orbbec_description/urdf/gemini_305_g.urdf.xacro
similarity index 98%
rename from orbbec_description/urdf/gemini305_g.urdf.xacro
rename to orbbec_description/urdf/gemini_305_g.urdf.xacro
index c6fd3eb2..ad75d15a 100644
--- a/orbbec_description/urdf/gemini305_g.urdf.xacro
+++ b/orbbec_description/urdf/gemini_305_g.urdf.xacro
@@ -2,7 +2,7 @@
 <!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com)
      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 -->
-<robot xmlns:xacro="http://ros.org/wiki/xacro" name="gemini305_g">
+<robot xmlns:xacro="http://ros.org/wiki/xacro" name="gemini_305_g">
   <xacro:property name="mesh_path" value="package://orbbec_description/meshes/gemini305_g/" />
   <link
     name="camera_link" />
diff --git a/orbbec_description/urdf/gemini309_g.urdf.xacro b/orbbec_description/urdf/gemini_309_g.urdf.xacro
similarity index 98%
rename from orbbec_description/urdf/gemini309_g.urdf.xacro
rename to orbbec_description/urdf/gemini_309_g.urdf.xacro
index 8c024d4b..8e8b4f91 100644
--- a/orbbec_description/urdf/gemini309_g.urdf.xacro
+++ b/orbbec_description/urdf/gemini_309_g.urdf.xacro
@@ -2,7 +2,7 @@
 <!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com)
      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 -->
-<robot xmlns:xacro="http://ros.org/wiki/xacro" name="gemini309_g">
+<robot xmlns:xacro="http://ros.org/wiki/xacro" name="gemini_309_g">
   <xacro:property name="mesh_path" value="package://orbbec_description/meshes/gemini309_g/" />
   <link
     name="camera_link" />
diff --git a/orbbec_description/urdf/test_gemini_305.urdf.xacro b/orbbec_description/urdf/test_gemini_305.urdf.xacro
new file mode 100644
index 00000000..3a870041
--- /dev/null
+++ b/orbbec_description/urdf/test_gemini_305.urdf.xacro
@@ -0,0 +1,16 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com)
+     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 -->
+<robot name="gemini_305" xmlns:xacro="http://ros.org/wiki/xacro">
+    <xacro:include filename="gemini_305.urdf.xacro"/>
+    <!-- Define a virtual root link -->
+  <link name="base_link"/>
+
+  <!-- Connect the virtual root to the actual base link -->
+  <joint name="base_link_to_camera_bottom_screw" type="fixed">
+    <parent link="base_link"/>
+    <child link="camera_bottom_screw"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+</robot>
diff --git a/orbbec_description/urdf/test_gemini_305_g.urdf.xacro b/orbbec_description/urdf/test_gemini_305_g.urdf.xacro
new file mode 100644
index 00000000..a9446803
--- /dev/null
+++ b/orbbec_description/urdf/test_gemini_305_g.urdf.xacro
@@ -0,0 +1,16 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com)
+     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 -->
+<robot name="gemini_305_g" xmlns:xacro="http://ros.org/wiki/xacro">
+    <xacro:include filename="gemini_305_g.urdf.xacro"/>
+    <!-- Define a virtual root link -->
+  <link name="base_link"/>
+
+  <!-- Connect the virtual root to the actual base link -->
+  <joint name="base_link_to_camera_bottom_screw" type="fixed">
+    <parent link="base_link"/>
+    <child link="camera_bottom_screw"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+</robot>
diff --git a/orbbec_description/urdf/test_gemini_309_g.urdf.xacro b/orbbec_description/urdf/test_gemini_309_g.urdf.xacro
new file mode 100644
index 00000000..9d5f5bff
--- /dev/null
+++ b/orbbec_description/urdf/test_gemini_309_g.urdf.xacro
@@ -0,0 +1,16 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com)
+     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 -->
+<robot name="gemini_309_g" xmlns:xacro="http://ros.org/wiki/xacro">
+    <xacro:include filename="gemini_309_g.urdf.xacro"/>
+    <!-- Define a virtual root link -->
+  <link name="base_link"/>
+
+  <!-- Connect the virtual root to the actual base link -->
+  <joint name="base_link_to_camera_bottom_screw" type="fixed">
+    <parent link="base_link"/>
+    <child link="camera_bottom_screw"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+</robot>