OrbbecSDK_ROS2/orbbec_description/urdf/gemini_305_g.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_g">
  <xacro:property name="mesh_path" value="package://orbbec_description/meshes/gemini305_g/" />
  <link
    name="camera_link" />
  <joint
    name="camera_link"
    type="fixed">
    <origin
      xyz="0.008050000000001 0.00900395097915 0.0209939609855011"
      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_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="3.141592653589793 0 1.570796326794897" />
      <geometry>
        <mesh
          filename="${mesh_path}base_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.631372549019608 0.686274509803922 0.749019607843137 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="3.141592653589793 0 1.570796326794897" />
      <geometry>
        <mesh
          filename="${mesh_path}base_link.STL" />
      </geometry>
    </collision>
    <visual>
      <origin
        xyz="-0.033409999999996 0 0.020993960985498"
        rpy="0 0 1.570796326794897" />
      <geometry>
        <mesh
          filename="${mesh_path}FAKRA.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="-0.033409999999996 0 0.020993960985498"
        rpy="0 0 1.570796326794897" />
      <geometry>
        <mesh
          filename="${mesh_path}FAKRA.STL" />
      </geometry>
    </collision>
  </link>
  <link
    name="camera_right_color_frame">
    <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"
        ixz="-9.3353249049419E-12"
        iyy="9.93176003014812E-09"
        iyz="-6.12381828511411E-12"
        izz="8.02751620920214E-09" />
    </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="-1.17602281778789E-06 -0.00346934628305837 0.000376234001468578"
        rpy="0 0 0" />
      <mass
        value="0.000735468334566977" />
      <inertia
        ixx="7.92202562203234E-09"
        ixy="-1.95146773316258E-12"
        ixz="-9.33532489896877E-12"
        iyy="9.9317599983348E-09"
        iyz="-6.12381825718017E-12"
        izz="8.0275161952487E-09" />
    </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>
</robot>