OrbbecSDK_ROS2/orbbec_description/urdf/gemini_305.urdf.xacro

<?xml version="1.0" encoding="utf-8"?>
<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner ([email protected])
     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_305">
  <xacro:property name="mesh_path" value="package://orbbec_description/meshes/gemini305/" />
  <link
    name="camera_link" />
  <joint
    name="camera_link"
    type="fixed">
    <origin
      xyz="0.008126703388352 0.008999999999889 0.0210000000000001"
      rpy="0 0 0" />
    <parent
      link="camera_bottom_screw" />
    <child
      link="camera_link" />
    <axis
      xyz="0 0 0" />
  </joint>
  <link
    name="camera_left_color_optical_frame" />
  <joint
    name="camera_left_color_optical_frame"
    type="fixed">
    <origin
      xyz="0 0 0"
      rpy="-1.5707963267949 0 -1.5707963267949" />
    <parent
      link="camera_left_color_frame" />
    <child
      link="camera_left_color_optical_frame" />
    <axis
      xyz="0 0 0" />
  </joint>
  <link
    name="camera_right_color_optical_frame" />
  <joint
    name="camera_right_color_optical_frame"
    type="fixed">
    <origin
      xyz="0 0 0"
      rpy="-1.5707963267949 0 -1.5707963267949" />
    <parent
      link="camera_right_color_frame" />
    <child
      link="camera_right_color_optical_frame" />
    <axis
      xyz="0 0 0" />
  </joint>
  <link
    name="camera_right_color_frame">
    <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="3.141592653589793 0 1.570796326794897" />
      <geometry>
        <mesh
          filename="${mesh_path}RGB_R.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.956862745098039 0.0470588235294118 0.874509803921569 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="3.141592653589793 0 1.570796326794897" />
      <geometry>
        <mesh
          filename="${mesh_path}RGB_R.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="camera_right_color_frame"
    type="fixed">
    <origin
      xyz="0 -0.018 0"
      rpy="0 0 0" />
    <parent
      link="camera_left_color_frame" />
    <child
      link="camera_right_color_frame" />
    <axis
      xyz="0 0 0" />
  </joint>
  <link
    name="camera_left_color_frame">
    <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="3.141592653589793 0 1.570796326794897" />
      <geometry>
        <mesh
          filename="${mesh_path}RGB_L.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.956862745098039 0.0470588235294118 0.874509803921569 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="3.141592653589793 0 1.570796326794897" />
      <geometry>
        <mesh
          filename="${mesh_path}RGB_L.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="camera_left_color_frame"
    type="fixed">
    <origin
      xyz="0 0 0"
      rpy="0 0 0" />
    <parent
      link="camera_link" />
    <child
      link="camera_left_color_frame" />
    <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="3.141592653589793 0 1.570796326794897" />
      <geometry>
        <mesh
          filename="${mesh_path}camera_rear_screw_R.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 0.945098039215686 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="3.141592653589793 0 1.570796326794897" />
      <geometry>
        <mesh
          filename="${mesh_path}camera_rear_screw_R.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="camera_rear_screw_R"
    type="fixed">
    <origin
      xyz="-0.01091969797964 -0.0100031936844311 0.0209990315919259"
      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="-0.00980764415550291 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="3.141592653589793 0 1.570796326794897" />
      <geometry>
        <mesh
          filename="${mesh_path}camera_rear_screw_L.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 0.945098039215686 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="3.141592653589793 0 1.570796326794897" />
      <geometry>
        <mesh
          filename="${mesh_path}camera_rear_screw_L.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="camera_rear_screw_L"
    type="fixed">
    <origin
      xyz="-0.01091969797964 0.00999680631556896 0.0209990315919259"
      rpy="0 0 0" />
    <parent
      link="camera_bottom_screw" />
    <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="3.141592653589793 0 1.570796326794897" />
      <geometry>
        <mesh
          filename="${mesh_path}camera_bottom_screw.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.631372549019608 0.686274509803922 0.749019607843137 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="3.141592653589793 0 1.570796326794897" />
      <geometry>
        <mesh
          filename="${mesh_path}camera_bottom_screw.STL" />
      </geometry>
    </collision>
  </link>
</robot>