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,0.097666,-1.0602,0.016983,0,0,0,1.0623,0.00202,7.846E-08,-1.6521E-08,0.0031488,-1.0021E-07,0.0051396,0,0,0,0,0,0,package://newURDF/meshes/base_link.STL,0.75294,0.75294,0.75294,1,0,0,0,0,0,0,package://newURDF/meshes/base_link.STL,,大Y模块-2,Origin_global,,,,0,0,0,0,0,0,,0,0,0,,,,,,,,,,,,
Link1,0.0070301,-0.00030378,0.044333,0,0,0,2.3117,0.0035548,1.4877E-06,3.269E-05,0.0024594,1.066E-06,0.0036305,0,0,0,0,0,0,package://newURDF/meshes/Link1.STL,0.75294,0.75294,0.75294,1,0,0,0,0,0,0,package://newURDF/meshes/Link1.STL,,一号臂驱动单元-1;3.1-二号臂驱动单元-1,坐标系base,基准轴base,j1,revolute,0.18701,-1.0602,0.042134,0,0,1.5708,base_link,0,0,1,60,3.14,-15.7,15.7,,,,,,,,
Link2,-9.2767E-06,-0.27664,0.019763,0,0,0,0.9007,0.0057226,-1.0789E-05,-6.9854E-13,0.00032946,-2.0483E-16,0.0060392,0,0,0,0,0,0,package://newURDF/meshes/Link2.STL,0.75294,0.75294,0.75294,1,0,0,0,0,0,0,package://newURDF/meshes/Link2.STL,,3.1-一号臂-1,坐标系2,基准轴URDF2,j2,revolute,-0.0208,0,0.085,-1.5708,0,-1.5708,Link1,0,0,1,60,3.14,-1.57,1.57,,,,,,,,
Link3,0.0016734,-0.086963,-0.059109,0,0,0,0.72964,0.00040609,-1.1866E-05,8.3967E-07,0.00028636,4.7151E-08,0.00030158,0,0,0,0,0,0,package://newURDF/meshes/Link3.STL,0.75294,0.75294,0.75294,1,0,0,0,0,0,0,package://newURDF/meshes/Link3.STL,,3.1-二号臂主臂-1,坐标系3,基准轴URDF3,j3,revolute,0,-0.404,0.0563,0,0,-1.5708,Link2,0,0,1,3,3.14,0,3,,,,,,,,
Link4,4.9724306803875E-05,-0.00207071321291896,0.143599808817138,0,0,0,0.60214796640085,0.000525809010016783,1.23868002227642E-08,-1.24134280805566E-08,0.000546950540891618,1.12515113310339E-06,0.000149799542930966,0,0,0,0,0,0,package://newURDF/meshes/Link4.STL,0.752941176470588,0.752941176470588,0.752941176470588,1,0,0,0,0,0,0,package://newURDF/meshes/Link4.STL,,3.1-二号臂回转臂-1,坐标系4,基准轴URDF4,j4,revolute,0.047775,-0.0905,-0.0355,-1.5708,0,-1.5708,Link3,0,0,1,3,3.14,-12.56,12.56,,,,,,,,
Link5,-1.00614222916379E-05,0.0581666861440572,-0.0240267717595721,0,0,0,0.218165546730634,8.12333089853061E-05,1.14300936029607E-08,-1.13719114058548E-08,8.12745528093048E-05,-5.01183167153332E-07,8.39758674297567E-05,0,0,0,0,0,0,package://newURDF/meshes/Link5.STL,0.898039215686275,0.917647058823529,0.929411764705882,1,0,0,0,0,0,0,package://newURDF/meshes/Link5.STL,,三号臂-1/三号臂Y电机安装板-1;三号臂-1/三号臂Y电机固定板-1;三号臂-1/三号臂Y电机侧加固板-2;三号臂-1/三号臂P轴轴承内固定上板-1;三号臂-1/三号臂Y电机侧加固板-1;三号臂-1/4310 减速机-rau 3505 3d-20250718.stp-1/4310_-RAU_3505_3D_0001.stp-1/4310_-RAU_3505_3D0001.stp-1;三号臂-1/4310 减速机-rau 3505 3d-20250718.stp-1/4310_-RAU_3505_3D_0001.stp-1/4310__VER_B0001.stp-1;三号臂-1/4310 减速机-rau 3505 3d-20250718.stp-1/4310_-RAU_3505_3D_0001.stp-1/G43_V1_1_220606A.stp-1,坐标系5,基准轴URDF5,j5,revolute,0,0.023,0.241,1.5708,0,3.1416,Link4,0,0,1,3,3.14,-1.75,1.75,,,,,,,,
Link6,2.13317252848316E-05,0.000538972898537438,0.0999352955724812,0,0,0,0.575128999928036,0.00025728868876434,-1.85839768859793E-06,1.14575058864561E-07,0.000169254451988166,5.60715028730914E-08,0.000243919065707014,0,0,0,0,0,0,package://newURDF/meshes/Link6.STL,0.749019607843137,0.749019607843137,0.749019607843137,1,0,0,0,0,0,0,package://newURDF/meshes/Link6.STL,,机械爪3.1-2/C620电调_标件_01-1;机械爪3.1-2/夹爪固定板-1;机械爪3.1-2/滑轨外限位-2;机械爪3.1-2/夹爪固定板-2;机械爪3.1-2/6-6-40M3-6;机械爪3.1-2/滑轨外限位-1;机械爪3.1-2/爪侧盖板-2;机械爪3.1-2/爪侧盖板-1;机械爪3.1-2/6-6-40M3-5;机械爪3.1-2/6-6-21M3-11;机械爪3.1-2/6-6-21M3-10;机械爪3.1-2/承载翼板-4;机械爪3.1-2/6-6-40M3-4;机械爪3.1-2/6-6-21M3-9;机械爪3.1-2/6-6-40M3-3;机械爪3.1-2/6-6-40M3-2;机械爪3.1-2/6-6-40M3-1;机械爪3.1-2/承载翼板-3;机械爪3.1-2/承载翼板-2;机械爪3.1-2/6-6-21M3-12;机械爪3.1-2/6-6-21M3-8;机械爪3.1-2/6-6-21M3-6;机械爪3.1-2/6-6-21M3-5;机械爪3.1-2/6-6-21M3-4;机械爪3.1-2/6-6-21M3-3;机械爪3.1-2/从动杆-3;机械爪3.1-2/滑轨内限位-1;机械爪3.1-2/驱动杆盖板-1;机械爪3.1-2/爪盖板-4;机械爪3.1-2/6-6-21M3-2;机械爪3.1-2/承载翼板-1;机械爪3.1-2/6-6-21M3-7;机械爪3.1-2/6-6-21M3-1;机械爪3.1-2/爪盖板-3;机械爪3.1-2/驱动杆下-1;机械爪3.1-2/爪固定块上-2;机械爪3.1-2/爪固定块下-2;机械爪3.1-2/滑块MGN9C-3;机械爪3.1-2/爪固定块上-1;机械爪3.1-2/柔性爪-1;机械爪3.1-2/滑块MGN9C-2;机械爪3.1-2/爪连接块-1;机械爪3.1-2/柔性爪-2;机械爪3.1-2/爪固定块下-1;机械爪3.1-2/从动杆-2;机械爪3.1-2/驱动杆上-1;机械爪3.1-2/爪连接块-2;机械爪3.1-2/线轨MGN9-1;机械爪3.1-2/3508电机-1;机械爪3.1-2/承载板-1;机械爪3.1-2/线轨MGN9-2;机械爪3.1-2/电机转接板-1,坐标系6,基准轴URDF6,j6,revolute,1.4024E-05,0.1065,-0.022997,1.5708,0,3.1416,Link5,0,0,1,3,3.14,-12.56,12.56,,,,,,,,