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OrbbecSDK_ROS2/orbbec_description/urdf/gemini309_g.urdf.xacro
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<?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="gemini309_g">
<xacro:property name="mesh_path" value="package://orbbec_description/meshes/gemini309_g/" />
<link
name="camera_bottom_screw">
<inertial>
<origin
xyz="0.000175737970584729 -0.00394983412061421 -0.0206345858068119"
rpy="0 0 0" />
<mass
value="0.0249222072968717" />
<inertia
ixx="5.00403811957311E-06"
ixy="-7.2306914084516E-10"
ixz="2.22927661310567E-08"
iyy="8.89433351709202E-06"
iyz="-2.67333736513775E-09"
izz="4.83457340761002E-06" />
</inertial>
</link>
<link
name="RGB_R">
<inertial>
<origin
xyz="-1.17602281696563E-06 -0.0034693462830589 0.000376234001467319"
rpy="0 0 0" />
<mass
value="0.000735468334566907" />
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ixx="7.92202560415908E-09"
ixy="-1.95146774676002E-12"
ixz="-9.33532490494195E-12"
iyy="9.93176003014812E-09"
iyz="-6.12381828511392E-12"
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</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 1.570796326794897" />
<geometry>
<mesh
filename="${mesh_path}RGB_R.STL" />
</geometry>
<material
name="">
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</material>
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<collision>
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xyz="0 0 0"
rpy="0 0 1.570796326794897" />
<geometry>
<mesh
filename="${mesh_path}RGB_R.STL" />
</geometry>
</collision>
</link>
<joint
name="RGB_R"
type="fixed">
<origin
xyz="0.008050000000002 -0.008996049020848 0.0209939609855101"
rpy="0 0 0" />
<parent
link="camera_bottom_screw" />
<child
link="RGB_R" />
<axis
xyz="0 0 0" />
</joint>
<link
name="RGB_L">
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<origin
xyz="-1.17602281780871E-06 -0.00346934628305838 0.000376234001468585"
rpy="0 0 0" />
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<visual>
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xyz="0 0 0"
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</geometry>
</collision>
</link>
<joint
name="RGB_L"
type="fixed">
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rpy="0 0 0" />
<parent
link="camera_bottom_screw" />
<child
link="RGB_L" />
<axis
xyz="0 0 0" />
</joint>
<link
name="USB">
<inertial>
<origin
xyz="-6.85782796221099E-05 -0.000107475646444262 -9.3734165711179E-06"
rpy="0 0 0" />
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<visual>
<origin
xyz="0 0 0"
rpy="0 0 1.570796326794897" />
<geometry>
<mesh
filename="${mesh_path}USB.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 1.570796326794897" />
<geometry>
<mesh
filename="${mesh_path}USB.STL" />
</geometry>
</collision>
</link>
<joint
name="USB"
type="fixed">
<origin
xyz="-0.00269500000000068 -0.014696049020852 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
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rpy="0 0 0" />
<mass
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<inertia
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iyy="3.1776766369675E-06"
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</inertial>
</link>
<joint
name="camera_rear_screw_R"
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<origin
xyz="-0.0137999999999964 -0.00679999999999149 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"
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</inertial>
</link>
<joint
name="camera_rear_screw_L"
type="fixed">
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rpy="0 0 0" />
<parent
link="camera_bottom_screw" />
<child
link="camera_rear_screw_L" />
<axis
xyz="0 0 0" />
</joint>
<link
name="FAKRA">
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</inertial>
<visual>
<origin
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<geometry>
<mesh
filename="${mesh_path}FAKRA.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 1.570796326794897" />
<geometry>
<mesh
filename="${mesh_path}FAKRA.STL" />
</geometry>
</collision>
</link>
<joint
name="FAKRA"
type="fixed">
<origin
xyz="-0.0234099999999966 0 0.0209939609855071"
rpy="0 0 0" />
<parent
link="camera_bottom_screw" />
<child
link="FAKRA" />
<axis
xyz="0 0 0" />
</joint>
</robot>
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