mirror of
https://github.com/orbbec/OrbbecSDK_ROS2.git
synced 2026-09-13 19:40:19 +08:00
325 lines
13 KiB
XML
325 lines
13 KiB
XML
<?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="gemini_335_336">
|
|
<xacro:property name="mesh_path" value="package://orbbec_description/meshes/gemini335_336/" />
|
|
|
|
<link name="camera_link">
|
|
<inertial>
|
|
<origin xyz="0.00277269933215555 -1.06084680351007E-05 0.012801025085723" rpy="0 0 0" />
|
|
<mass value="0.0186143499064346" />
|
|
<inertia ixx="1.38922229644605E-05" ixy="-4.74617876641156E-09"
|
|
ixz="1.99175628166615E-08"
|
|
iyy="1.70686808598814E-06" iyz="-7.18717290327325E-09" izz="1.31766831843134E-05" />
|
|
</inertial>
|
|
<visual>
|
|
<origin xyz="-0.01587 -0.025 -0.0125" rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh filename="${mesh_path}camera_link.STL" />
|
|
</geometry>
|
|
<material name="">
|
|
<color rgba="1 1 1 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh filename="${mesh_path}camera_link.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
|
|
<link name="camera_bottom_screw_frame">
|
|
<inertial>
|
|
<origin xyz="0.00255168206289301 -0.00123934714960528 0.0118889875786098" rpy="0 0 0" />
|
|
<mass value="0.00564476880678651" />
|
|
<inertia ixx="3.07690693820862E-06" ixy="-1.85045956307764E-08"
|
|
ixz="-9.2792327175816E-09"
|
|
iyy="2.27632852811487E-07" iyz="1.65233162864392E-08" izz="2.93985735090777E-06" />
|
|
</inertial>
|
|
<visual>
|
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh filename="${mesh_path}camera_bottom_screw_frame.STL" />
|
|
</geometry>
|
|
<material name="">
|
|
<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh filename="${mesh_path}camera_bottom_screw_frame.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
|
|
<joint name="camera_bottom_screw_frame_joint" type="fixed">
|
|
<origin xyz="-0.01587 -0.025 -0.0125" rpy="0 0 0" />
|
|
<parent link="camera_link" />
|
|
<child link="camera_bottom_screw_frame" />
|
|
<axis xyz="0 0 0" />
|
|
</joint>
|
|
|
|
<link name="camera_left_ir_frame">
|
|
<inertial>
|
|
<origin xyz="-0.00158020887627678 -1.52683853303637E-08 -1.4860800305164E-07"
|
|
rpy="0 0 0" />
|
|
<mass value="0.000453168790516429" />
|
|
<inertia ixx="4.34108781911687E-09" ixy="-3.69655517007001E-13"
|
|
ixz="-1.45486421873185E-13"
|
|
iyy="4.84012226840139E-09" iyz="1.92888940614786E-14" izz="4.84044260907388E-09" />
|
|
</inertial>
|
|
<visual>
|
|
<origin xyz="-25 0 0" rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh filename="${mesh_path}camera_left_ir_frame.STL" />
|
|
</geometry>
|
|
<material name="">
|
|
<color rgba="0.501960784313725 0.250980392156863 0.250980392156863 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh filename="${mesh_path}camera_left_ir_frame.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
|
|
<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" />
|
|
<axis xyz="0 0 0" />
|
|
</joint>
|
|
|
|
<link name="camera_left_ir_optical_frame">
|
|
<inertial>
|
|
<origin xyz="1.52683853338331E-08 1.48608003051636E-07 -0.00158020887627678" rpy="0 0 0" />
|
|
<mass value="0.000453168790516429" />
|
|
<inertia ixx="4.84012226840139E-09" ixy="1.92888940614797E-14"
|
|
ixz="3.69655517006993E-13"
|
|
iyy="4.84044260907388E-09" iyz="1.45486421873192E-13" izz="4.34108781911687E-09" />
|
|
</inertial>
|
|
<visual>
|
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh filename="${mesh_path}camera_left_ir_optical_frame.STL" />
|
|
</geometry>
|
|
<material name="">
|
|
<color rgba="0.501960784313725 0.250980392156863 0.250980392156863 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh filename="${mesh_path}camera_left_ir_optical_frame.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
|
|
<joint name="camera_left_ir_optical_joint" type="fixed">
|
|
<origin xyz="0 0 0" rpy="-1.5707963267949 0 -1.5707963267949" />
|
|
<parent link="camera_left_ir_frame" />
|
|
<child link="camera_left_ir_optical_frame" />
|
|
<axis xyz="0 0 0" />
|
|
</joint>
|
|
|
|
<link name="camera_right_ir_frame">
|
|
<inertial>
|
|
<origin xyz="-0.00158020887627678 -1.52683853303637E-08 -1.48608003050581E-07"
|
|
rpy="0 0 0" />
|
|
<mass value="0.000453168790516429" />
|
|
<inertia ixx="4.34108781911687E-09" ixy="-3.69655517007898E-13"
|
|
ixz="-1.45486421873762E-13"
|
|
iyy="4.84012226840139E-09" iyz="1.92888940594506E-14" izz="4.84044260907389E-09" />
|
|
</inertial>
|
|
<visual>
|
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh filename="${mesh_path}camera_right_ir_frame.STL" />
|
|
</geometry>
|
|
<material name="">
|
|
<color rgba="0.501960784313725 0.250980392156863 0.250980392156863 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh filename="${mesh_path}camera_right_ir_frame.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
|
|
<joint name="camera_right_ir_joint" type="fixed">
|
|
<origin xyz="0 -0.05 0" rpy="0 0 0" />
|
|
<parent link="camera_depth_frame" />
|
|
<child link="camera_right_ir_frame" />
|
|
<axis xyz="0 0 0" />
|
|
</joint>
|
|
|
|
<link name="camera_right_ir_optical_frame">
|
|
<inertial>
|
|
<origin xyz="1.52683853268942E-08 1.4860800305058E-07 -0.00158020887627678" rpy="0 0 0" />
|
|
<mass value="0.000453168790516429" />
|
|
<inertia ixx="4.84012226840139E-09" ixy="1.92888940594538E-14"
|
|
ixz="3.69655517007897E-13"
|
|
iyy="4.84044260907389E-09" iyz="1.45486421873764E-13" izz="4.34108781911687E-09" />
|
|
</inertial>
|
|
<visual>
|
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh filename="${mesh_path}camera_right_ir_optical_frame.STL" />
|
|
</geometry>
|
|
<material name="">
|
|
<color rgba="0.501960784313725 0.250980392156863 0.250980392156863 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh filename="${mesh_path}camera_right_ir_optical_frame.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
|
|
<joint name="camera_right_ir_optical_joint" type="fixed">
|
|
<origin xyz="0 0 0" rpy="-1.5707963267949 0 -1.5707963267949" />
|
|
<parent link="camera_right_ir_frame" />
|
|
<child link="camera_right_ir_optical_frame" />
|
|
<axis xyz="0 0 0" />
|
|
</joint>
|
|
|
|
<link name="camera_color_frame">
|
|
<inertial>
|
|
<origin xyz="-0.00177079701156752 -2.20101367029782E-07 2.09893364599916E-07"
|
|
rpy="0 0 0" />
|
|
<mass value="0.000139779365329478" />
|
|
<inertia ixx="6.69130695410276E-10" ixy="-1.53742421247628E-13"
|
|
ixz="-2.28137695085953E-14"
|
|
iyy="6.11277085561398E-10" iyz="4.18921196289284E-14" izz="6.11078036871936E-10" />
|
|
</inertial>
|
|
<visual>
|
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh filename="${mesh_path}camera_color_frame.STL" />
|
|
</geometry>
|
|
<material name="">
|
|
<color rgba="0.501960784313725 0.250980392156863 0.250980392156863 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh filename="${mesh_path}camera_color_frame.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
|
|
<joint name="camera_color_joint" type="fixed">
|
|
<origin xyz="0.001663 -0.014005 0.000005" rpy="0 0 0" />
|
|
<parent link="camera_depth_frame" />
|
|
<child link="camera_color_frame" />
|
|
<axis xyz="0 0 0" />
|
|
</joint>
|
|
|
|
<link name="camera_color_optical_frame">
|
|
<inertial>
|
|
<origin xyz="2.20101367029782E-07 -2.09893364599916E-07 -0.00177079701156752"
|
|
rpy="0 0 0" />
|
|
<mass value="0.000139779365329478" />
|
|
<inertia ixx="6.11277085561398E-10" ixy="4.18921196289284E-14"
|
|
ixz="1.53742421247628E-13"
|
|
iyy="6.11078036871936E-10" iyz="2.28137695085953E-14" izz="6.69130695410276E-10" />
|
|
</inertial>
|
|
<visual>
|
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh filename="${mesh_path}camera_color_optical_frame.STL" />
|
|
</geometry>
|
|
<material name="">
|
|
<color rgba="0.501960784313725 0.250980392156863 0.250980392156863 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh filename="${mesh_path}camera_color_optical_frame.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
|
|
<joint name="camera_color_optical_joint" type="fixed">
|
|
<origin xyz="0 0 0" rpy="-1.5707963267949 0 -1.5707963267949" />
|
|
<parent link="camera_color_frame" />
|
|
<child link="camera_color_optical_frame" />
|
|
<axis xyz="0 0 0" />
|
|
</joint>
|
|
|
|
<link name="camera_depth_frame">
|
|
<inertial>
|
|
<origin xyz="-0.00158020887627678 -1.52683853338331E-08 -1.48608003051662E-07"
|
|
rpy="0 0 0" />
|
|
<mass value="0.000453168790516429" />
|
|
<inertia ixx="4.34108781911687E-09" ixy="-3.69655517006982E-13"
|
|
ixz="-1.45486421873185E-13"
|
|
iyy="4.84012226840139E-09" iyz="1.92888940614707E-14" izz="4.84044260907388E-09" />
|
|
</inertial>
|
|
<visual>
|
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh filename="${mesh_path}camera_depth_frame.STL" />
|
|
</geometry>
|
|
<material name="">
|
|
<color rgba="0.501960784313725 0.250980392156863 0.250980392156863 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh filename="${mesh_path}camera_depth_frame.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
|
|
<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" />
|
|
<axis xyz="0 0 0" />
|
|
</joint>
|
|
|
|
<link name="camera_depth_optical_frame">
|
|
<inertial>
|
|
<origin xyz="1.52683853338331E-08 1.4860800305165E-07 -0.00158020887627678" rpy="0 0 0" />
|
|
<mass value="0.000453168790516429" />
|
|
<inertia ixx="4.84012226840139E-09" ixy="1.9288894061467E-14" ixz="3.69655517006976E-13"
|
|
iyy="4.84044260907388E-09" iyz="1.454864218732E-13" izz="4.34108781911687E-09" />
|
|
</inertial>
|
|
<visual>
|
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh filename="${mesh_path}camera_depth_optical_frame.STL" />
|
|
</geometry>
|
|
<material name="">
|
|
<color rgba="0.501960784313725 0.250980392156863 0.250980392156863 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh filename="${mesh_path}camera_depth_optical_frame.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
|
|
<joint name="camera_depth_optical_joint" type="fixed">
|
|
<origin xyz="0 0 0" rpy="-1.5707963267949 0 -1.5707963267949" />
|
|
<parent link="camera_depth_frame" />
|
|
<child link="camera_depth_optical_frame" />
|
|
<axis xyz="0 0 0" />
|
|
</joint>
|
|
</robot> |