arm/arm_model/机械臂URDF六坐标系不带夹爪/newURDF/urdf/newURDF.csv

1	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
2	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
3	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
4	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
5	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
6	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
7	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
8	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