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="dabai_max_pro">
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<xacro:property name="mesh_path" value="package://orbbec_description/meshes/dabai_max_pro/" />
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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="-0.0068839655817402 -0.0310735653338187 -0.000353781673267518"
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rpy="0 0 0" />
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<mass
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value="0.0126212330508609" />
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<inertia
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ixx="1.19420516096485E-05"
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ixy="-4.1950814929096E-08"
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ixz="-9.40357394253804E-11"
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iyy="1.50082156300974E-06"
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iyz="1.11959103722442E-08"
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</inertial>
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<visual>
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<origin
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xyz="-0.027310001154848 -0.0315 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="${mesh_path}base_link.STL" />
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</geometry>
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<material
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name="">
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<color
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rgba="0.301960784313725 0.647058823529412 0.749019607843137 1" />
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</material>
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</visual>
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<collision>
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<origin
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xyz="-0.027310001154848 -0.0315 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="${mesh_path}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="0.00493766812916488 -0.000868502473886037 -0.00182329263275816"
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rpy="0 0 0" />
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<mass
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value="0.00758521152176798" />
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<inertia
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ixx="5.72083056523741E-06"
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ixy="-1.61672148324735E-08"
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ixz="-2.18623929443986E-08"
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iyy="6.19103803029858E-07"
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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="${mesh_path}camera_bottom_screw_frame.STL" />
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</geometry>
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<material
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name="">
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<color
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rgba="0.611764705882353 0.749019607843137 0.603921568627451 1" />
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</material>
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</visual>
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<collision>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="${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_frame"
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type="fixed">
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<origin
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xyz="-0.027310001154848 -0.0315 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_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_left_ir_frame">
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<inertial>
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<origin
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xyz="0.00135753039709186 1.22364028806027E-06 4.81198503183066E-07"
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rpy="0 0 0" />
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<mass
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value="5.38667940337218E-05" />
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<inertia
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ixx="3.31262260565363E-10"
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ixy="-1.40069841306973E-14"
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ixz="-1.09629457552955E-14"
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iyy="1.76222164802545E-10"
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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="${mesh_path}camera_left_ir_frame.STL" />
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</geometry>
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<material
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name="">
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<color
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rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
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</material>
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</visual>
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<collision>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="${mesh_path}camera_left_ir_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_frame"
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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="-1.22364028806027E-06 -4.81198503183066E-07 0.00135753039709186"
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rpy="0 0 0" />
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<mass
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value="5.38667940337218E-05" />
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<inertia
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ixx="1.76222164802545E-10"
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ixy="8.97324840212862E-14"
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ixz="1.40069841306939E-14"
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iyy="1.76036786988241E-10"
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iyz="1.09629457552948E-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="${mesh_path}camera_left_ir_optical_frame.STL" />
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</geometry>
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<material
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name="">
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<color
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rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
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</material>
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</visual>
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<collision>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="${mesh_path}camera_left_ir_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_frame"
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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_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_right_ir_frame">
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<inertial>
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<origin
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xyz="0.00135753039709186 1.22364028805333E-06 4.81198503184114E-07"
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rpy="0 0 0" />
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<mass
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value="5.38667940337219E-05" />
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<inertia
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ixx="3.31262260565363E-10"
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ixy="-1.40069841307025E-14"
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ixz="-1.09629457552728E-14"
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iyy="1.76222164802546E-10"
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iyz="8.97324840212975E-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="${mesh_path}camera_right_ir_frame.STL" />
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</geometry>
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<material
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name="">
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<color
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rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
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</material>
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</visual>
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<collision>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="${mesh_path}camera_right_ir_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_frame"
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type="fixed">
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<origin
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xyz="0 -0.063 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="-1.22364028805333E-06 -4.81198503184114E-07 0.00135753039709186"
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rpy="0 0 0" />
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<mass
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value="5.38667940337219E-05" />
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<inertia
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ixx="1.76222164802546E-10"
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ixy="8.97324840213045E-14"
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ixz="1.40069841306981E-14"
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iyy="1.76036786988241E-10"
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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="${mesh_path}camera_right_ir_optical_frame.STL" />
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</geometry>
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<material
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name="">
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<color
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rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
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</material>
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</visual>
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<collision>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="${mesh_path}camera_right_ir_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_frame"
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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_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_color_frame">
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<inertial>
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<origin
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xyz="0.00278059177554599 1.11024822937664E-07 7.53785374269312E-08"
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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="${mesh_path}camera_color_frame.STL" />
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</geometry>
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<material
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name="">
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<color
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rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
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</material>
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</visual>
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<collision>
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<origin
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xyz="0 0 0"
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<geometry>
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<mesh
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filename="${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_frame"
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type="fixed">
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<origin
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xyz="-0.003310001154848 -0.0450001323422 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="-1.11024822937664E-07 -7.53785374268566E-08 0.00278059177554599"
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xyz="0 0 0"
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<geometry>
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<material
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name="">
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rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
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xyz="0 0 0"
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<geometry>
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<mesh
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filename="${mesh_path}camera_color_optical_frame.STL" />
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</geometry>
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</link>
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<joint
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name="camera_color_optical_frame"
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type="fixed">
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<origin
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xyz="0 0 0"
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<parent
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link="camera_color_frame" />
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<child
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link="camera_color_optical_frame" />
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<axis
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xyz="0 0 0" />
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</joint>
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<link
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name="camera_depth_frame">
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<inertial>
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<origin
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xyz="0.00135753039709186 1.22364028806027E-06 4.81198503183096E-07"
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xyz="0 0 0"
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<geometry>
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<mesh
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name="">
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<origin
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xyz="0 0 0"
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<geometry>
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<mesh
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filename="${mesh_path}camera_depth_frame.STL" />
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<joint
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name="camera_depth_frame"
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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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link="camera_depth_frame" />
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<axis
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xyz="0 0 0" />
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<link
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name="camera_depth_optical_frame">
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<inertial>
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<origin
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xyz="-1.22364028806027E-06 -4.81198503183066E-07 0.00135753039709186"
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rpy="0 0 0" />
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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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<mesh
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filename="${mesh_path}camera_depth_optical_frame.STL" />
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name="">
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rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
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<collision>
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<origin
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xyz="0 0 0"
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<geometry>
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<mesh
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filename="${mesh_path}camera_depth_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_depth_optical_frame"
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type="fixed">
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<origin
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xyz="0 0 0"
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|
|
link="camera_depth_frame" />
|
|
<child
|
|
link="camera_depth_optical_frame" />
|
|
<axis
|
|
xyz="0 0 0" />
|
|
</joint>
|
|
</robot>
|