mirror of
https://github.com/orbbec/OrbbecSDK_ROS2.git
synced 2026-09-13 19:40:19 +08:00
Add URDF models for Gemini 305 and 309 series
This commit is contained in:
ob-yalian
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@@ -0,0 +1,365 @@
|
||||
<?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 xmlns:xacro="http://ros.org/wiki/xacro" name="gemini305">
|
||||
<xacro:property name="mesh_path" value="package://orbbec_description/meshes/gemini305/" />
|
||||
<link
|
||||
name="base_link">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="0.000195549528928161 -5.34216701628021E-05 -0.0203898633722788"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="0.0195706749601595" />
|
||||
<inertia
|
||||
ixx="3.90938897723015E-06"
|
||||
ixy="-1.54949883302207E-09"
|
||||
ixz="2.45880849146858E-08"
|
||||
iyy="6.7877667129966E-06"
|
||||
iyz="-9.63634999610215E-09"
|
||||
izz="3.76189543642479E-06" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="${mesh_path}base_link.STL" />
|
||||
</geometry>
|
||||
<material
|
||||
name="">
|
||||
<color
|
||||
rgba="1 1 0.945098039215686 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="${mesh_path}base_link.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<link
|
||||
name="RGB_R">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="0.00919554952881716 -0.00818012505851481 0.000610136627721268"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="0.0195706749601595" />
|
||||
<inertia
|
||||
ixx="3.90938897723015E-06"
|
||||
ixy="-1.54949883302206E-09"
|
||||
ixz="2.45880849146857E-08"
|
||||
iyy="6.7877667129966E-06"
|
||||
iyz="-9.6363499961021E-09"
|
||||
izz="3.76189543642479E-06" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="${mesh_path}RGB_R.STL" />
|
||||
</geometry>
|
||||
<material
|
||||
name="">
|
||||
<color
|
||||
rgba="0.956862745098039 0.0470588235294118 0.874509803921569 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="${mesh_path}RGB_R.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint
|
||||
name="RGB_R"
|
||||
type="fixed">
|
||||
<origin
|
||||
xyz="-0.008999999999889 0.008126703388352 -0.0210000000000001"
|
||||
rpy="0 0 0" />
|
||||
<parent
|
||||
link="base_link" />
|
||||
<child
|
||||
link="RGB_R" />
|
||||
<axis
|
||||
xyz="0 0 0" />
|
||||
</joint>
|
||||
<link
|
||||
name="RGB_L">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="-0.00880445047118283 -0.00818012505851481 0.000610136627721265"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="0.0195706749601595" />
|
||||
<inertia
|
||||
ixx="3.90938897723015E-06"
|
||||
ixy="-1.54949883302202E-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 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="${mesh_path}RGB_L.STL" />
|
||||
</geometry>
|
||||
<material
|
||||
name="">
|
||||
<color
|
||||
rgba="0.956862745098039 0.0470588235294118 0.874509803921569 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="${mesh_path}RGB_L.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint
|
||||
name="RGB_L"
|
||||
type="fixed">
|
||||
<origin
|
||||
xyz="0.009000000000111 0.008126703388352 -0.0210000000000001"
|
||||
rpy="0 0 0" />
|
||||
<parent
|
||||
link="base_link" />
|
||||
<child
|
||||
link="RGB_L" />
|
||||
<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 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="${mesh_path}USB.STL" />
|
||||
</geometry>
|
||||
<material
|
||||
name="">
|
||||
<color
|
||||
rgba="1 1 1 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="${mesh_path}USB.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint
|
||||
name="USB"
|
||||
type="fixed">
|
||||
<origin
|
||||
xyz="0.014700000000115 -0.00261829661165068 -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>
|
||||
<origin
|
||||
xyz="0.0101923558444971 0.0108662763094772 0.000609168219647137"
|
||||
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="-9.63634999610213E-09"
|
||||
izz="3.76189543642479E-06" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="${mesh_path}camera_rear_screw_R.STL" />
|
||||
</geometry>
|
||||
<material
|
||||
name="">
|
||||
<color
|
||||
rgba="1 1 0.945098039215686 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="${mesh_path}camera_rear_screw_R.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint
|
||||
name="camera_rear_screw_R"
|
||||
type="fixed">
|
||||
<origin
|
||||
xyz="-0.00999680631556896 -0.01091969797964 -0.0209990315919259"
|
||||
rpy="0 0 0" />
|
||||
<parent
|
||||
link="base_link" />
|
||||
<child
|
||||
link="camera_rear_screw_R" />
|
||||
<axis
|
||||
xyz="0 0 0" />
|
||||
</joint>
|
||||
<link
|
||||
name="camera_rear_screw_L">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="-0.00980764415550291 0.0108662763094772 0.000609168219647134"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="0.0195706749601595" />
|
||||
<inertia
|
||||
ixx="3.90938897723015E-06"
|
||||
ixy="-1.54949883302204E-09"
|
||||
ixz="2.45880849146858E-08"
|
||||
iyy="6.7877667129966E-06"
|
||||
iyz="-9.63634999610211E-09"
|
||||
izz="3.76189543642479E-06" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="${mesh_path}camera_rear_screw_L.STL" />
|
||||
</geometry>
|
||||
<material
|
||||
name="">
|
||||
<color
|
||||
rgba="1 1 0.945098039215686 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="${mesh_path}camera_rear_screw_L.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint
|
||||
name="camera_rear_screw_L"
|
||||
type="fixed">
|
||||
<origin
|
||||
xyz="0.0100031936844311 -0.01091969797964 -0.0209990315919259"
|
||||
rpy="0 0 0" />
|
||||
<parent
|
||||
link="base_link" />
|
||||
<child
|
||||
link="camera_rear_screw_L" />
|
||||
<axis
|
||||
xyz="0 0 0" />
|
||||
</joint>
|
||||
<link
|
||||
name="camera_bottom_screw">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="0.000195549528928165 -5.34216701628029E-05 -0.0203898633722788"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="0.0195706749601595" />
|
||||
<inertia
|
||||
ixx="3.90938897723015E-06"
|
||||
ixy="-1.54949883302199E-09"
|
||||
ixz="2.45880849146858E-08"
|
||||
iyy="6.78776671299659E-06"
|
||||
iyz="-9.63634999610216E-09"
|
||||
izz="3.76189543642478E-06" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="${mesh_path}camera_bottom_screw.STL" />
|
||||
</geometry>
|
||||
<material
|
||||
name="">
|
||||
<color
|
||||
rgba="0.631372549019608 0.686274509803922 0.749019607843137 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="${mesh_path}camera_bottom_screw.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint
|
||||
name="camera_bottom_screw"
|
||||
type="fixed">
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<parent
|
||||
link="base_link" />
|
||||
<child
|
||||
link="camera_bottom_screw" />
|
||||
<axis
|
||||
xyz="0 0 0" />
|
||||
</joint>
|
||||
</robot>
|
||||
@@ -0,0 +1,418 @@
|
||||
<?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 xmlns:xacro="http://ros.org/wiki/xacro" name="gemini305_g">
|
||||
<xacro:property name="mesh_path" value="package://orbbec_description/meshes/gemini305_g/" />
|
||||
<link
|
||||
name="base_link">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="0.000149164489798296 -0.00906695064573543 -0.0207909592259398"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="0.033546716795485" />
|
||||
<inertia
|
||||
ixx="6.61619826485559E-06"
|
||||
ixy="-3.93814864956883E-09"
|
||||
ixz="3.50980830227358E-08"
|
||||
iyy="1.15876789717806E-05"
|
||||
iyz="1.05717082804933E-08"
|
||||
izz="6.08547247005231E-06" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="${mesh_path}base_link.STL" />
|
||||
</geometry>
|
||||
<material
|
||||
name="">
|
||||
<color
|
||||
rgba="0.631372549019608 0.686274509803922 0.749019607843137 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="${mesh_path}base_link.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<link
|
||||
name="camera_bottom_screw">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="9.11600953309166E-05 -0.00320635295652284 -0.020524426961246"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="0.0214423582709099" />
|
||||
<inertia
|
||||
ixx="4.83339010606525E-06"
|
||||
ixy="-3.72329051071151E-09"
|
||||
ixz="2.51447927275988E-08"
|
||||
iyy="8.20575253145867E-06"
|
||||
iyz="1.19581716252661E-08"
|
||||
izz="4.32451827833792E-06" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="${mesh_path}camera_bottom_screw.STL" />
|
||||
</geometry>
|
||||
<material
|
||||
name="">
|
||||
<color
|
||||
rgba="0.631372549019608 0.686274509803922 0.749019607843137 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="${mesh_path}camera_bottom_screw.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint
|
||||
name="camera_bottom_screw"
|
||||
type="fixed">
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<parent
|
||||
link="base_link" />
|
||||
<child
|
||||
link="camera_bottom_screw" />
|
||||
<axis
|
||||
xyz="0 0 0" />
|
||||
</joint>
|
||||
<link
|
||||
name="RGB_R">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="-1.1760228169691E-06 -0.0034693462830589 0.000376234001467315"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="0.000735468334566907" />
|
||||
<inertia
|
||||
ixx="7.92202560415907E-09"
|
||||
ixy="-1.95146774675994E-12"
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||||
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@@ -0,0 +1,365 @@
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For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
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</link>
|
||||
<joint
|
||||
name="USB"
|
||||
type="fixed">
|
||||
<origin
|
||||
xyz="0.014696049020852 -0.00269500000000068 -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>
|
||||
<origin
|
||||
xyz="0.00694483634502586 -0.0004039608053246 -0.000467753233225888"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="0.00885761204737661" />
|
||||
<inertia
|
||||
ixx="1.66869077460572E-06"
|
||||
ixy="-2.55469491377294E-10"
|
||||
ixz="7.69688751694532E-09"
|
||||
iyy="3.1776766369675E-06"
|
||||
iyz="-1.12550987680034E-09"
|
||||
izz="1.63868643158484E-06" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="${mesh_path}camera_rear_screw_R.STL" />
|
||||
</geometry>
|
||||
<material
|
||||
name="">
|
||||
<color
|
||||
rgba="0.874509803921569 0.945098039215686 1 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="${mesh_path}camera_rear_screw_R.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint
|
||||
name="camera_rear_screw_R"
|
||||
type="fixed">
|
||||
<origin
|
||||
xyz="-0.00680000000000851 -0.0137999999999964 -0.0209900000000397"
|
||||
rpy="0 0 0" />
|
||||
<parent
|
||||
link="camera_bottom_screw" />
|
||||
<child
|
||||
link="camera_rear_screw_R" />
|
||||
<axis
|
||||
xyz="0 0 0" />
|
||||
</joint>
|
||||
<link
|
||||
name="camera_rear_screw_L">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="-0.00665516365497414 -0.0004039608053246 -0.000467753233225888"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="0.00885761204737661" />
|
||||
<inertia
|
||||
ixx="1.66869077460572E-06"
|
||||
ixy="-2.55469491377279E-10"
|
||||
ixz="7.69688751694532E-09"
|
||||
iyy="3.1776766369675E-06"
|
||||
iyz="-1.12550987680032E-09"
|
||||
izz="1.63868643158484E-06" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="${mesh_path}camera_rear_screw_L.STL" />
|
||||
</geometry>
|
||||
<material
|
||||
name="">
|
||||
<color
|
||||
rgba="0.874509803921569 0.945098039215686 1 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="${mesh_path}camera_rear_screw_L.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint
|
||||
name="camera_rear_screw_L"
|
||||
type="fixed">
|
||||
<origin
|
||||
xyz="0.00679999999999149 -0.0137999999999964 -0.0209900000000397"
|
||||
rpy="0 0 0" />
|
||||
<parent
|
||||
link="camera_bottom_screw" />
|
||||
<child
|
||||
link="camera_rear_screw_L" />
|
||||
<axis
|
||||
xyz="0 0 0" />
|
||||
</joint>
|
||||
<link
|
||||
name="FAKRA">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="0.000120342070480443 0.0189302142307225 0.000357727554186116"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="0.0224266176030287" />
|
||||
<inertia
|
||||
ixx="4.90510990927456E-06"
|
||||
ixy="-7.63213244507503E-10"
|
||||
ixz="2.00360111638076E-08"
|
||||
iyy="8.70411044641884E-06"
|
||||
iyz="-2.68767067434135E-09"
|
||||
izz="4.73094837296026E-06" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="${mesh_path}FAKRA.STL" />
|
||||
</geometry>
|
||||
<material
|
||||
name="">
|
||||
<color
|
||||
rgba="1 1 1 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="${mesh_path}FAKRA.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint
|
||||
name="FAKRA"
|
||||
type="fixed">
|
||||
<origin
|
||||
xyz="0 -0.0234099999999966 -0.0209939609855071"
|
||||
rpy="0 0 0" />
|
||||
<parent
|
||||
link="camera_bottom_screw" />
|
||||
<child
|
||||
link="FAKRA" />
|
||||
<axis
|
||||
xyz="0 0 0" />
|
||||
</joint>
|
||||
</robot>
|
||||
Reference in New Issue
Block a user