mirror of
https://github.com/orbbec/OrbbecSDK_ROS2.git
synced 2026-10-04 20:17:47 +08:00
525 lines
13 KiB
XML
525 lines
13 KiB
XML
<?xml version="1.0" encoding="utf-8"?>
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<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner ([email protected])
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Commit Version: 1.6.0-4-g7f85cfe Build Version: 1.6.7995.38578
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For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
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<robot xmlns:xacro="http://ros.org/wiki/xacro" name="gemini_2_L">
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<xacro:property name="mesh_path" value="package://orbbec_description/meshes/gemini2l/" />
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<link
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name="camera_link">
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<inertial>
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<origin
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xyz="-0.0011764 -0.00036824 0.013857"
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rpy="0 0 0" />
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<mass
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value="0.0063118" />
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<inertia
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ixx="6.2823E-06"
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ixy="-1.425E-09"
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ixz="4.3925E-09"
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iyy="3.0429E-07"
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iyz="2.3803E-08"
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izz="6.0224E-06" />
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</inertial>
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<visual>
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<origin
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xyz="-0.01033 -0.05 -0.0145"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="${mesh_path}base_link.STL" />
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</geometry>
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<material
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name="">
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<color
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rgba="0.79216 0.81961 0.93333 1" />
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</material>
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</visual>
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<collision>
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<origin
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xyz="-0.01033 -0.05 -0.0145"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="${mesh_path}base_link.STL" />
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</geometry>
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</collision>
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</link>
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<link
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name="camera_bottom_screw_frame">
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<inertial>
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<origin
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xyz="0.0029372 -0.00037745 0.014561"
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rpy="0 0 0" />
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<mass
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value="0.037165" />
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<inertia
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ixx="4.9388E-05"
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ixy="-4.4007E-08"
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ixz="-6.3785E-09"
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iyy="3.6527E-06"
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iyz="6.164E-08"
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izz="4.6538E-05" />
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</inertial>
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<visual>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="${mesh_path}camera_bottom_screw_frame.STL" />
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</geometry>
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<material
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name="">
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<color
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rgba="0.79216 0.81961 0.93333 1" />
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</material>
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</visual>
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<collision>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="${mesh_path}camera_bottom_screw_frame.STL" />
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</geometry>
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</collision>
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</link>
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<joint
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name="camera_bottom_screw_joint"
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type="fixed">
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<origin
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xyz="-0.01033 -0.05 -0.0145"
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rpy="0 0 0" />
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<parent
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link="camera_link" />
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<child
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link="camera_bottom_screw_frame" />
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<axis
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xyz="0 0 0" />
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</joint>
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<link
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name="camera_right_ir_frame">
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<inertial>
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<origin
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xyz="0.00133699020857289 -3.04478174825706E-08 3.7713891998328E-08"
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rpy="0 0 0" />
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<mass
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value="0.000234825886837936" />
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<inertia
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ixx="2.7973722771565E-09"
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ixy="4.86630909822049E-16"
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ixz="-6.02474175028887E-16"
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iyy="1.60708521944039E-09"
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iyz="2.50471029328346E-14"
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izz="1.60707326572337E-09" />
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</inertial>
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<visual>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="${mesh_path}camera_IR2_frame.STL" />
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</geometry>
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<material
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name="">
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<color
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rgba="0.501960784313725 0.250980392156863 0.250980392156863 1" />
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</material>
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</visual>
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<collision>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="${mesh_path}camera_IR2_frame.STL" />
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</geometry>
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</collision>
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</link>
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<joint
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name="camera_right_ir_joint"
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type="fixed">
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<origin
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xyz="0 -0.1 0"
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rpy="0 0 0" />
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<parent
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link="camera_depth_frame" />
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<child
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link="camera_right_ir_frame" />
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<axis
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xyz="0 0 0" />
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</joint>
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<link
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name="camera_right_ir_optical_frame">
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<inertial>
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<origin
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xyz="3.04478174825706E-08 -3.77138919982661E-08 0.00133699020857289"
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rpy="0 0 0" />
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<mass
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value="0.000234825886837936" />
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<inertia
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ixx="1.60708521944039E-09"
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ixy="2.50471029328366E-14"
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ixz="-4.86630909830569E-16"
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iyy="1.60707326572337E-09"
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iyz="6.02474175031465E-16"
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</inertial>
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<visual>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="${mesh_path}camera_IR2_optical_frame.STL" />
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</geometry>
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<material
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name="">
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<color
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rgba="0.501960784313725 0.250980392156863 0.250980392156863 1" />
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</material>
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</visual>
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<collision>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="${mesh_path}camera_IR2_optical_frame.STL" />
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</geometry>
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</collision>
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</link>
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<joint
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name="camera_right_ir_optical_joint"
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type="fixed">
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<origin
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xyz="0 0 0"
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rpy="-1.5708 0 -1.5708" />
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<parent
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link="camera_right_ir_frame" />
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<child
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link="camera_right_ir_optical_frame" />
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<axis
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xyz="0 0 0" />
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</joint>
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<link
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name="camera_left_ir_frame">
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<inertial>
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<origin
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xyz="0.0013369893867687 -3.05135768111087E-08 3.78324507307797E-08"
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rpy="0 0 0" />
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<mass
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value="0.000469652030784025" />
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<inertia
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ixx="5.59475001898519E-09"
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ixy="9.75895068782649E-16"
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ixz="-1.20960040000288E-15"
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iyy="3.2141712578372E-09"
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iyz="5.02084346840751E-14"
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</inertial>
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<visual>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="${mesh_path}camera_IR1_frame.STL" />
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</geometry>
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<material
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name="">
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<color
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rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
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</material>
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</visual>
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<collision>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="${mesh_path}camera_IR1_frame.STL" />
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</geometry>
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</collision>
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</link>
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<joint
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name="camera_left_ir_joint"
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type="fixed">
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<parent
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link="camera_depth_frame" />
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<child
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link="camera_left_ir_frame" />
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<axis
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xyz="0 0 0" />
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</joint>
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<link
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name="camera_left_ir_optical_frame">
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<inertial>
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<origin
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xyz="3.05135768111087E-08 -3.78324507307641E-08 0.0013369893867687"
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rpy="0 0 0" />
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<mass
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value="0.000469652030784025" />
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<inertia
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ixx="3.2141712578372E-09"
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ixy="5.02084346840749E-14"
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ixz="-9.75895068788212E-16"
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iyy="3.21414720967441E-09"
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iyz="1.20960040000404E-15"
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</inertial>
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<visual>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="${mesh_path}camera_IR1_optical_frame.STL" />
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</geometry>
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<material
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name="">
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<color
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rgba="0.501960784313725 0.250980392156863 0.250980392156863 1" />
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</material>
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</visual>
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<collision>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="${mesh_path}camera_IR1_optical_frame.STL" />
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</geometry>
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</collision>
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</link>
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<joint
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name="camera_left_ir_optical_joint"
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type="fixed">
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<origin
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xyz="0 0 0"
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rpy="-1.5708 0 -1.5708" />
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<parent
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link="camera_left_ir_frame" />
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<child
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link="camera_left_ir_optical_frame" />
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<axis
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xyz="0 0 0" />
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</joint>
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<link
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name="camera_color_frame">
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<inertial>
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<origin
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xyz="0.00133699020857289 -3.04478174791012E-08 3.77138920013449E-08"
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rpy="0 0 0" />
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<mass
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value="0.000234825886837936" />
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<inertia
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ixx="2.79737227715649E-09"
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ixy="4.86630909530369E-16"
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ixz="-6.02474175560006E-16"
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iyy="1.60708521944039E-09"
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iyz="2.50471029324911E-14"
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</inertial>
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<visual>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="${mesh_path}camera_color_frame.STL" />
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</geometry>
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<material
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name="">
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<color
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rgba="0.501960784313725 0.250980392156863 0.250980392156863 1" />
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</material>
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</visual>
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<collision>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="${mesh_path}camera_color_frame.STL" />
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</geometry>
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</collision>
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</link>
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<joint
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name="camera_color_joint"
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type="fixed">
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<origin
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xyz="3.9789e-11 -0.025 0"
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rpy="0 0 0" />
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<parent
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link="camera_depth_frame" />
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<child
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link="camera_color_frame" />
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<axis
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xyz="0 0 0" />
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</joint>
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<link
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name="camera_color_optical_frame">
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<inertial>
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<origin
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xyz="3.04478174756317E-08 -3.77138920013243E-08 0.00133699020857289"
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rpy="0 0 0" />
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<mass
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value="0.000234825886837936" />
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<inertia
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ixx="1.60708521944039E-09"
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ixy="2.50471029324865E-14"
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ixz="-4.8663090954064E-16"
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iyy="1.60707326572337E-09"
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iyz="6.02474175558627E-16"
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</inertial>
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<visual>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="${mesh_path}camera_rgb_optical_frame.STL" />
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</geometry>
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<material
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name="">
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<color
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rgba="0.501960784313725 0.250980392156863 0.250980392156863 1" />
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</material>
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</visual>
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<collision>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="${mesh_path}camera_rgb_optical_frame.STL" />
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</geometry>
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</collision>
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</link>
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<joint
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name="camera_color_optical_joint"
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type="fixed">
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<origin
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xyz="0 0 0"
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rpy="-1.5707963267949 0 -1.5707963267949" />
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<parent
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link="camera_color_frame" />
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<child
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link="camera_color_optical_frame" />
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<axis
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xyz="0 0 0" />
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</joint>
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<link
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name="camera_imu_frame">
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<inertial>
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<origin
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xyz="-0.000484999999999961 0 0"
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rpy="0 0 0" />
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<mass
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value="1.02857242451587E-05" />
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<inertia
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ixx="1.90187596157957E-11"
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ixy="-2.04047577952548E-28"
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ixz="-4.8688949454117E-29"
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iyy="7.51977467552025E-12"
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iyz="-1.23081513238144E-27"
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</inertial>
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<visual>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="${mesh_path}camera_imu_frame.STL" />
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</geometry>
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<material
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name="">
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<color
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rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
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</material>
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</visual>
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<collision>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="${mesh_path}camera_imu_frame.STL" />
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</geometry>
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</collision>
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</link>
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<joint
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name="camera_imu_joint"
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type="fixed">
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<origin
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xyz="-0.01507 -0.015159 0.0025797"
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rpy="0 0 0" />
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<parent
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link="camera_depth_frame" />
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<child
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link="camera_imu_frame" />
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<axis
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xyz="0 0 0" />
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</joint>
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<link
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name="camera_depth_frame">
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<inertial>
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<origin
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xyz="0.0013369893867687 -3.05135768041698E-08 3.7832450730772E-08"
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rpy="0 0 0" />
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<mass
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value="0.000469652030784025" />
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<inertia
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ixx="5.59475001898519E-09"
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ixy="9.75895068794067E-16"
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ixz="-1.2096004000043E-15"
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iyy="3.2141712578372E-09"
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iyz="5.02084346840699E-14"
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</inertial>
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<visual>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="${mesh_path}camera_depth_frame.STL" />
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</geometry>
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<material
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name="">
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<color
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rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
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</material>
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</visual>
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<collision>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="${mesh_path}camera_depth_frame.STL" />
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</geometry>
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</collision>
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</link>
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<joint
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name="camera_depth_joint"
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type="fixed">
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<parent
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link="camera_link" />
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<child
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link="camera_depth_frame" />
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<axis
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xyz="0 0 0" />
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</joint>
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</robot>
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