<img width="1254" height="649" alt="Image" src="https://github.com/user-attachments/assets/8f422868-611e-4c64-90a3-486c0ac22838" /> collision origin is set as follows https://github.com/orbbec/OrbbecSDK_ROS2/blob/94fc83f2ac15d35b2c2d992802bdaa48289ce89a/orbbec_description/urdf/gemini335L_336L.urdf.xacro#L39 but I think it suppose to match with the visual origin https://github.com/orbbec/OrbbecSDK_ROS2/blob/94fc83f2ac15d35b2c2d992802bdaa48289ce89a/orbbec_description/urdf/gemini335L_336L.urdf.xacro#L25
collision origin is set as follows
OrbbecSDK_ROS2/orbbec_description/urdf/gemini335L_336L.urdf.xacro
Line 39 in 94fc83f
but I think it suppose to match with the visual origin
OrbbecSDK_ROS2/orbbec_description/urdf/gemini335L_336L.urdf.xacro
Line 25 in 94fc83f