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update gemini camera's urdf

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datean
2024-10-21 16:15:12 +08:00
parent bc63c93c27
commit a6f74a23f7
5 changed files with 23 additions and 23 deletions
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orbbec_description/meshes/gemini335_336/camera_infra2_frame.STL → orbbec_description/meshes/gemini335_336/camera_left_ir_frame.STL
View File
orbbec_description/meshes/gemini335_336/camera_infra_1_optical_frame.STL → orbbec_description/meshes/gemini335_336/camera_left_ir_optical_frame.STL
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orbbec_description/meshes/gemini335_336/camera_infra_1_frame.STL → orbbec_description/meshes/gemini335_336/camera_right_ir_frame.STL
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orbbec_description/meshes/gemini335_336/camera_infra2_optical_frame.STL → orbbec_description/meshes/gemini335_336/camera_right_ir_optical_frame.STL
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orbbec_description/urdf/_gemini_335_336.urdf.xacro → orbbec_description/urdf/gemini_335_336.urdf.xacro
+23 -23
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@@ -1,6 +1,6 @@
<?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)
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="gemini_335_336">
@@ -15,7 +15,7 @@ Stephen Brawner (brawner@gmail.com)
iyy="1.70686808598814E-06" iyz="-7.18717290327325E-09" izz="1.31766831843134E-05" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<origin xyz="-25 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="${mesh_path}camera_link.STL" />
</geometry>
@@ -63,7 +63,7 @@ Stephen Brawner (brawner@gmail.com)
<axis xyz="0 0 0" />
</joint>
<link name="camera_infra_1_frame">
<link name="camera_left_ir_frame">
<inertial>
<origin xyz="-0.00158020887627678 -1.52683853303637E-08 -1.4860800305164E-07"
rpy="0 0 0" />
@@ -73,9 +73,9 @@ Stephen Brawner (brawner@gmail.com)
iyy="4.84012226840139E-09" iyz="1.92888940614786E-14" izz="4.84044260907388E-09" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<origin xyz="-25 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="${mesh_path}camera_infra_1_frame.STL" />
<mesh filename="${mesh_path}camera_left_ir_frame.STL" />
</geometry>
<material name="">
<color rgba="0.501960784313725 0.250980392156863 0.250980392156863 1" />
@@ -84,19 +84,19 @@ Stephen Brawner (brawner@gmail.com)
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="${mesh_path}camera_infra_1_frame.STL" />
<mesh filename="${mesh_path}camera_left_ir_frame.STL" />
</geometry>
</collision>
</link>
<joint name="camera_infra_1_joint" type="fixed">
<joint name="camera_left_ir_joint" type="fixed">
<origin xyz="0.01587 -0.025 0.0125" rpy="0 0 0" />
<parent link="camera_bottom_screw_frame" />
<child link="camera_infra_1_frame" />
<child link="camera_left_ir_frame" />
<axis xyz="0 0 0" />
</joint>
<link name="camera_infra_1_optical_frame">
<link name="camera_left_ir_optical_frame">
<inertial>
<origin xyz="1.52683853338331E-08 1.48608003051636E-07 -0.00158020887627678" rpy="0 0 0" />
<mass value="0.000453168790516429" />
@@ -107,7 +107,7 @@ Stephen Brawner (brawner@gmail.com)
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="${mesh_path}camera_infra_1_optical_frame.STL" />
<mesh filename="${mesh_path}camera_left_ir_optical_frame.STL" />
</geometry>
<material name="">
<color rgba="0.501960784313725 0.250980392156863 0.250980392156863 1" />
@@ -116,19 +116,19 @@ Stephen Brawner (brawner@gmail.com)
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="${mesh_path}camera_infra_1_optical_frame.STL" />
<mesh filename="${mesh_path}camera_left_ir_optical_frame.STL" />
</geometry>
</collision>
</link>
<joint name="camera_infra_1_optical_joint" type="fixed">
<joint name="camera_left_ir_optical_joint" type="fixed">
<origin xyz="0.01587 -0.025 0.0125" rpy="-1.5707963267949 0 -1.5707963267949" />
<parent link="camera_bottom_screw_frame" />
<child link="camera_infra_1_optical_frame" />
<child link="camera_left_ir_optical_frame" />
<axis xyz="0 0 0" />
</joint>
<link name="camera_infra2_frame">
<link name="camera_right_ir_frame">
<inertial>
<origin xyz="-0.00158020887627678 -1.52683853303637E-08 -1.48608003050581E-07"
rpy="0 0 0" />
@@ -140,7 +140,7 @@ Stephen Brawner (brawner@gmail.com)
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="${mesh_path}camera_infra2_frame.STL" />
<mesh filename="${mesh_path}camera_right_ir_frame.STL" />
</geometry>
<material name="">
<color rgba="0.501960784313725 0.250980392156863 0.250980392156863 1" />
@@ -149,19 +149,19 @@ Stephen Brawner (brawner@gmail.com)
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="${mesh_path}camera_infra2_frame.STL" />
<mesh filename="${mesh_path}camera_right_ir_frame.STL" />
</geometry>
</collision>
</link>
<joint name="camera_infra2_joint" type="fixed">
<joint name="camera_right_ir_joint" type="fixed">
<origin xyz="0.01587 0.025 0.0125" rpy="0 0 0" />
<parent link="camera_bottom_screw_frame" />
<child link="camera_infra2_frame" />
<child link="camera_right_ir_frame" />
<axis xyz="0 0 0" />
</joint>
<link name="camera_infra2_optical_frame">
<link name="camera_right_ir_optical_frame">
<inertial>
<origin xyz="1.52683853268942E-08 1.4860800305058E-07 -0.00158020887627678" rpy="0 0 0" />
<mass value="0.000453168790516429" />
@@ -172,7 +172,7 @@ Stephen Brawner (brawner@gmail.com)
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="${mesh_path}camera_infra2_optical_frame.STL" />
<mesh filename="${mesh_path}camera_right_ir_optical_frame.STL" />
</geometry>
<material name="">
<color rgba="0.501960784313725 0.250980392156863 0.250980392156863 1" />
@@ -181,15 +181,15 @@ Stephen Brawner (brawner@gmail.com)
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="${mesh_path}camera_infra2_optical_frame.STL" />
<mesh filename="${mesh_path}camera_right_ir_optical_frame.STL" />
</geometry>
</collision>
</link>
<joint name="camera_infra2_optical_joint" type="fixed">
<joint name="camera_right_ir_optical_joint" type="fixed">
<origin xyz="0.01587 0.025 0.0125" rpy="-1.5707963267949 0 -1.5707963267949" />
<parent link="camera_bottom_screw_frame" />
<child link="camera_infra2_optical_frame" />
<child link="camera_right_ir_optical_frame" />
<axis xyz="0 0 0" />
</joint>