mirror of
https://github.com/orbbec/OrbbecSDK_ROS2.git
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524 lines
13 KiB
XML
524 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 (brawner@gmail.com)
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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="gemini_335L_336L">
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<xacro:property name="mesh_path" value="package://orbbec_description/meshes/gemini335L_336L/" />
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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="0.00287577972418718 0.000617475958990782 0.0141094270811986"
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rpy="0 0 0" />
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value="0.0330710167577971" />
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<inertia
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ixz="-2.79060738018455E-08"
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iyy="3.07720636867613E-06"
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<visual>
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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="${mesh_path}base_link.STL" />
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</geometry>
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name="">
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xyz="0 0 0"
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<geometry>
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<mesh
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filename="${mesh_path}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_color_screw_frame">
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xyz="-0.000565327084882765 -0.000754794567604389 0.0132965378040367"
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</inertial>
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<visual>
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<geometry>
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name="">
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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_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_color_screw_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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<child
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link="camera_color_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_IMU_frame">
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<inertial>
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<origin
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xyz="-0.000484999999999999 0 0"
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rpy="0 0 0" />
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<mass
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value="1.1218632E-05" />
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</inertial>
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<visual>
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<origin
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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_IMU_frame.STL" />
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</geometry>
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<material
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name="">
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<collision>
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<origin
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<geometry>
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<mesh
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filename="${mesh_path}camera_IMU_frame.STL" />
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</geometry>
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<joint
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name="camera_IMU_frame"
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rpy="0 0 0" />
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<parent
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link="camera_color_screw_frame" />
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<child
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link="camera_IMU_frame" />
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xyz="0 0 0" />
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<link
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name="camera_depth_frame">
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<inertial>
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<inertia
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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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</geometry>
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<material
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name="">
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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_depth_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_frame"
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type="fixed">
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<origin
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xyz="0.011715 0.0475 0.014311"
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rpy="0 0 0" />
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<parent
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link="camera_color_screw_frame" />
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<child
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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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</joint>
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<link
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name="camera_infra1_frame">
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<inertial>
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<origin
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xyz="-0.00158020638644197 -1.72113892998871E-08 -1.52265896501463E-07"
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rpy="0 0 0" />
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<visual>
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xyz="0 0 0"
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<geometry>
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<mesh
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<material
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<collision>
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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_infra1_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_infra1_frame"
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type="fixed">
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<origin
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xyz="0.011715 0.0475 0.014311"
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rpy="0 0 0" />
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<parent
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link="camera_color_screw_frame" />
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<child
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link="camera_infra1_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_infra1_optical_frame">
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<inertial>
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<visual>
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xyz="0 0 0"
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<geometry>
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<joint
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name="camera_infra1_optical_frame"
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<parent
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<link
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<joint
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name="camera_infra2_frame"
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name="camera_color_optical_frame">
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name="camera_color_optical_frame"
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|
|
</robot> |