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Merge branch 'feat/gemini435le-description' into v2/develop

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ob-yalian
2026-09-07 16:53:54 +08:00
parent 7c4954791c 135f733bdd
commit ae44449e12
3 changed files with 121 additions and 0 deletions
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orbbec_description/meshes/gemini435Le/camera_screw_frame.STL
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orbbec_description/urdf/gemini_435_Le.urdf.xacro
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<?xml version="1.0" encoding="utf-8"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="gemini_435_Le">
<xacro:property name="mesh_path" value="package://orbbec_description/meshes/gemini435Le/" />
<!--
The root link owns the complete physical model. Sensor links below are
coordinate frames only, so their geometry, collision, mass, and inertia
are not counted repeatedly.
-->
<link name="camera_screw_frame">
<inertial>
<origin xyz="0.00362974814795868 0.0327239520253598 0.0201570762447024" rpy="0 0 0" />
<mass value="0.52" />
<inertia
ixx="0.000996547989654272"
ixy="-1.27347531187977E-05"
ixz="-6.37274993760709E-08"
iyy="0.000114258647753823"
iyz="2.49203178977503E-06"
izz="0.000945634655484896" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="${mesh_path}camera_screw_frame.STL" />
</geometry>
<material name="camera_body">
<color rgba="0.501960784313725 0.250980392156863 0.250980392156863 1" />
</material>
</visual>
<!-- Primitive collision avoids using a high-triangle-count dynamic mesh. -->
<collision>
<origin xyz="0.0024025 0.03375 0.0202" rpy="0 0 0" />
<geometry>
<box size="0.075505 0.1384 0.0404" />
</geometry>
</collision>
</link>
<link name="camera_link" />
<joint name="camera_link_joint" type="fixed">
<origin xyz="0.0354680400000002 0.0811997 0.0201999999999996" rpy="0 0 0" />
<parent link="camera_screw_frame" />
<child link="camera_link" />
</joint>
<link name="camera_depth_frame" />
<joint name="camera_depth_joint" type="fixed">
<origin xyz="0 0 0" rpy="0 0 0" />
<parent link="camera_link" />
<child link="camera_depth_frame" />
</joint>
<link name="camera_IMU_frame" />
<joint name="camera_IMU_joint" type="fixed">
<origin xyz="-0.0550580400000001 -0.0152696999999998 9.99999999999141E-05" rpy="0 0 0" />
<parent link="camera_depth_frame" />
<child link="camera_IMU_frame" />
</joint>
<link name="camera_color_frame" />
<joint name="camera_color_joint" type="fixed">
<origin xyz="0 -0.0237497 0" rpy="0 0 0" />
<parent link="camera_depth_frame" />
<child link="camera_color_frame" />
</joint>
<link name="camera_color_optical_frame" />
<joint name="camera_color_optical_joint" type="fixed">
<origin xyz="0 0 0" rpy="-1.57079632679489 0 -1.5707963267949" />
<parent link="camera_color_frame" />
<child link="camera_color_optical_frame" />
</joint>
<link name="camera_left_ir_frame" />
<joint name="camera_left_ir_joint" type="fixed">
<origin xyz="0 0 0" rpy="0 0 0" />
<parent link="camera_depth_frame" />
<child link="camera_left_ir_frame" />
</joint>
<link name="camera_left_ir_optical_frame" />
<joint name="camera_left_ir_optical_joint" type="fixed">
<origin xyz="0 0 0" rpy="-1.57079632679489 0 -1.5707963267949" />
<parent link="camera_left_ir_frame" />
<child link="camera_left_ir_optical_frame" />
</joint>
<link name="camera_right_ir_frame" />
<joint name="camera_right_ir_joint" type="fixed">
<origin xyz="0 -0.0949976 0" rpy="0 0 0" />
<parent link="camera_depth_frame" />
<child link="camera_right_ir_frame" />
</joint>
<link name="camera_right_ir_optical_frame" />
<joint name="camera_right_ir_optical_joint" type="fixed">
<origin xyz="0 0 0" rpy="-1.57079632679489 0 -1.5707963267949" />
<parent link="camera_right_ir_frame" />
<child link="camera_right_ir_optical_frame" />
</joint>
<link name="camera_depth_optical_frame" />
<joint name="camera_depth_optical_joint" type="fixed">
<origin xyz="0 0 0" rpy="-1.57079632679489 0 -1.5707963267949" />
<parent link="camera_depth_frame" />
<child link="camera_depth_optical_frame" />
</joint>
</robot>
orbbec_description/urdf/test_gemini_435_Le.urdf.xacro
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<?xml version="1.0" encoding="utf-8"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="gemini_435_Le">
<xacro:include filename="gemini_435_Le.urdf.xacro" />
<!-- Define a virtual root link for model tests and robot mounting. -->
<link name="base_link" />
<joint name="base_link_to_camera_screw_frame" type="fixed">
<parent link="base_link" />
<child link="camera_screw_frame" />
<origin xyz="0 0 0" rpy="0 0 0" />
</joint>
</robot>