From be3c02c6d5eb1c55f81ff8e9a7202dab106f8d83 Mon Sep 17 00:00:00 2001
From: ob-yalian <luotao2025@163.com>
Date: Fri, 5 Jun 2026 21:09:46 +0800
Subject: [PATCH] fix: remove USB link and joint from URDF files for Gemini
 305, 309 models

---
 orbbec_description/urdf/gemini305.urdf.xacro  | 55 +------------------
 .../urdf/gemini305_g.urdf.xacro               | 32 +----------
 .../urdf/gemini309_g.urdf.xacro               | 55 +------------------
 3 files changed, 3 insertions(+), 139 deletions(-)

diff --git a/orbbec_description/urdf/gemini305.urdf.xacro b/orbbec_description/urdf/gemini305.urdf.xacro
index cd97c5a5..f465f1e0 100644
--- a/orbbec_description/urdf/gemini305.urdf.xacro
+++ b/orbbec_description/urdf/gemini305.urdf.xacro
@@ -127,59 +127,6 @@
     <axis
       xyz="0 0 0" />
   </joint>
-  <link
-    name="USB">
-    <inertial>
-      <origin
-        xyz="-0.0145044504711869 0.00256487494148787 0.000610136627693075"
-        rpy="0 0 0" />
-      <mass
-        value="0.0195706749601595" />
-      <inertia
-        ixx="3.90938897723015E-06"
-        ixy="-1.54949883302208E-09"
-        ixz="2.45880849146858E-08"
-        iyy="6.7877667129966E-06"
-        iyz="-9.63634999610214E-09"
-        izz="3.76189543642479E-06" />
-    </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>
-  <joint
-    name="USB"
-    type="fixed">
-    <origin
-      xyz="-0.00261829661165068 -0.014700000000115 0.0209999999999719"
-      rpy="0 0 0" />
-    <parent
-      link="base_link" />
-    <child
-      link="USB" />
-    <axis
-      xyz="0 0 0" />
-  </joint>
   <link
     name="camera_rear_screw_R">
     <inertial>
@@ -339,4 +286,4 @@
     <axis
       xyz="0 0 0" />
   </joint>
-</robot>
\ No newline at end of file
+</robot>
diff --git a/orbbec_description/urdf/gemini305_g.urdf.xacro b/orbbec_description/urdf/gemini305_g.urdf.xacro
index d354146f..f066e691 100644
--- a/orbbec_description/urdf/gemini305_g.urdf.xacro
+++ b/orbbec_description/urdf/gemini305_g.urdf.xacro
@@ -180,36 +180,6 @@
     <axis
       xyz="0 0 0" />
   </joint>
-  <link
-    name="USB">
-    <inertial>
-      <origin
-        xyz="-6.85782796221099E-05 -0.000107475646444261 -9.37341657112484E-06"
-        rpy="0 0 0" />
-      <mass
-        value="0.000124823132660932" />
-      <inertia
-        ixx="9.1168959979051E-10"
-        ixy="-1.5447084285369E-12"
-        ixz="-1.47259149967294E-12"
-        iyy="1.405009962927E-09"
-        iyz="-2.08275831584529E-14"
-        izz="6.96711715818641E-10" />
-    </inertial>
-  </link>
-  <joint
-    name="USB"
-    type="fixed">
-    <origin
-      xyz="-0.00269500000000168 -0.014696049020854 0.0209939609854729"
-      rpy="0 0 0" />
-    <parent
-      link="base_link" />
-    <child
-      link="USB" />
-    <axis
-      xyz="0 0 0" />
-  </joint>
   <link
     name="camera_rear_screw_R">
     <inertial>
@@ -346,4 +316,4 @@
     <axis
       xyz="0 0 0" />
   </joint>
-</robot>
\ No newline at end of file
+</robot>
diff --git a/orbbec_description/urdf/gemini309_g.urdf.xacro b/orbbec_description/urdf/gemini309_g.urdf.xacro
index a2ccf537..1b11362f 100644
--- a/orbbec_description/urdf/gemini309_g.urdf.xacro
+++ b/orbbec_description/urdf/gemini309_g.urdf.xacro
@@ -127,59 +127,6 @@
     <axis
       xyz="0 0 0" />
   </joint>
-  <link
-    name="USB">
-    <inertial>
-      <origin
-        xyz="-6.85782796221099E-05 -0.000107475646444262 -9.3734165711179E-06"
-        rpy="0 0 0" />
-      <mass
-        value="0.000124823132660932" />
-      <inertia
-        ixx="9.1168959979051E-10"
-        ixy="-1.54470842853689E-12"
-        ixz="-1.47259149967294E-12"
-        iyy="1.405009962927E-09"
-        iyz="-2.08275831583943E-14"
-        izz="6.96711715818641E-10" />
-    </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>
-  <joint
-    name="USB"
-    type="fixed">
-    <origin
-      xyz="-0.00269500000000068 -0.014696049020852 0.0209939609854819"
-      rpy="0 0 0" />
-    <parent
-      link="camera_bottom_screw" />
-    <child
-      link="USB" />
-    <axis
-      xyz="0 0 0" />
-  </joint>
   <link
     name="camera_rear_screw_R">
     <inertial>
@@ -293,4 +240,4 @@
     <axis
       xyz="0 0 0" />
   </joint>
-</robot>
\ No newline at end of file
+</robot>