ROS/catkin_ws/src/mr12urdf20240605/urdf/mr12urdf20240605.csv

Link Name,Center of Mass X,Center of Mass Y,Center of Mass Z,Center of Mass Roll,Center of Mass Pitch,Center of Mass Yaw,Mass,Moment Ixx,Moment Ixy,Moment Ixz,Moment Iyy,Moment Iyz,Moment Izz,Visual X,Visual Y,Visual Z,Visual Roll,Visual Pitch,Visual Yaw,Mesh Filename,Color Red,Color Green,Color Blue,Color Alpha,Collision X,Collision Y,Collision Z,Collision Roll,Collision Pitch,Collision Yaw,Collision Mesh Filename,Material Name,SW Components,Coordinate System,Axis Name,Joint Name,Joint Type,Joint Origin X,Joint Origin Y,Joint Origin Z,Joint Origin Roll,Joint Origin Pitch,Joint Origin Yaw,Parent,Joint Axis X,Joint Axis Y,Joint Axis Z,Limit Effort,Limit Velocity,Limit Lower,Limit Upper,Calibration rising,Calibration falling,Dynamics Damping,Dynamics Friction,Safety Soft Upper,Safety Soft Lower,Safety K Position,Safety K Velocity
base_link,-0.0389794721428083,3.18209550907445E-05,0.114464775769165,0,0,0,27.8470958329326,0.333719655951858,-0.000162752951771119,-0.0150515703369821,0.572256719027697,6.64144679179418E-05,0.74716855955823,0,0,0,0,0,0,package://mr12urdf20240605/meshes/base_link.STL,0,1,1,1,0,0,0,0,0,0,package://mr12urdf20240605/meshes/base_link.STL,,base_link-1,坐标系word,,,,0,0,0,0,0,0,,0,0,0,,,,,,,,,,,,
Link1,0.0015836,0.02481,-0.16429,0,0,0,28.856,0.80293,0.2052,-0.085925,0.84748,-0.048338,0.87668,0,0,0,0,0,0,package://mr12urdf20240605/meshes/Link1.STL,1,1,1,1,0,0,0,0,0,0,package://mr12urdf20240605/meshes/Link1.STL,,link1rebuild-1,坐标系1,基准轴1,joint1,revolute,0,0,0.55,0,0,0,base_link,0,0,1,150,3.541,-2.878,2.878,,,,,,,,
Link2,0.318649688799688,-0.000235571433145232,0.186136694407231,0,0,0,7.80684304255034,0.0281236828911867,0.000281518665603689,-0.00939923269411962,0.185870193003645,1.16807601383937E-05,0.200135929390865,0,0,0,0,0,0,package://mr12urdf20240605/meshes/Link2.STL,1,1,1,1,0,0,0,0,0,0,package://mr12urdf20240605/meshes/Link2.STL,,link2-1,坐标系2,基准轴2,joint2,revolute,0.14974,0.035343,0,1.5708,-1.5708,0,Link1,0,0,-1,150,3.541,-2.529,1.396,,,,,,,,
Link3,0.108553296371736,-0.0970725190395638,0.00155584136936515,0,0,0,13.1020677700115,0.0894771695987357,0.00373169975921231,0.00305911419576535,0.0755527499176048,0.00497831742143842,0.0627128517779011,0,0,0,0,0,0,package://mr12urdf20240605/meshes/Link3.STL,1,1,1,1,0,0,0,0,0,0,package://mr12urdf20240605/meshes/Link3.STL,,link3rebuild2-1,坐标系3,基准轴3,joint3,revolute,0.76075,0,0.033754,0,0,0,Link2,0,0,-1,150,3.733,-1.308,2.529,,,,,,,,
Link4,0.0144892098854688,-0.000636132360795127,-0.376459479520837,0,0,0,8.67998704574409,0.466226625992446,0.000500906822306766,-0.015294045664646,0.451075373457536,0.000649456671583942,0.036563182959402,0,0,0,0,0,0,package://mr12urdf20240605/meshes/Link4.STL,0,1,1,1,0,0,0,0,0,0,package://mr12urdf20240605/meshes/Link4.STL,,link4-1,坐标系4,基准轴4,joint4,revolute,0.19783,-1.0829,0,1.5708,0,0,Link3,0,0,1,88.5,6.838,-3.314,3.314,,,,,,,,
Link5,-6.1697E-06,-0.048434,-0.0024999,0,0,0,1.2351,0.0041541,-7.1529E-06,-1.1135E-05,0.0031617,0.00015352,0.0035434,0,0,0,0,0,0,package://mr12urdf20240605/meshes/Link5.STL,0.79216,0.81961,0.93333,1,0,0,0,0,0,0,package://mr12urdf20240605/meshes/Link5.STL,,link5-1,坐标系5,基准轴5,joint5,revolute,0,0,0,1.5708,1.5708,0,Link4,0,0,-1,45.52,4.815,-3.663,0.75,,,,,,,,
Link6,0.048649,-0.00090428,0.27553,0,0,0,1.8877,0.0086566,0.00012203,-0.00084157,0.0053122,0.00012437,0.0064842,0,0,0,0,0,0,package://mr12urdf20240605/meshes/Link6.STL,0.75294,0.75294,0.75294,1,0,0,0,0,0,0,package://mr12urdf20240605/meshes/Link6.STL,,hanqiangrebuild-2;0517A-1;0516h-1,坐标系6,基准轴6,joint6,revolute,0,0,0,1.5708,0,0,Link5,0,0,-1,32.64,23.655,-3.838,3.838,,,,,,,,