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fix: remove USB link and joint from URDF files for Gemini 305, 309 models

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This commit is contained in:
ob-yalian
2026-06-05 21:09:46 +08:00
parent 81c391387a
commit be3c02c6d5
3 changed files with 3 additions and 139 deletions
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orbbec_description/urdf/gemini305.urdf.xacro
+1 -54
View File
@@ -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>
</robot>
orbbec_description/urdf/gemini305_g.urdf.xacro
+1 -31
View File
@@ -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>
</robot>
orbbec_description/urdf/gemini309_g.urdf.xacro
+1 -54
View File
@@ -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>
</robot>