arm/arm_model/机械臂URDF六坐标系不带夹爪/缩小版2026315/xin/urdf/xin.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	2.2062E-06	-0.089452	0.015312	0	0	0	1.0633	0.0031488	-7.846E-08	1.0021E-07	0.00202	-1.6521E-08	0.0051396	0	0	0	0	0	0	package://xin/meshes/base_link.STL	0.75294	0.75294	0.75294	1	0	0	0	0	0	0	package://xin/meshes/base_link.STL		大Y模块-2	坐标系base				0	0	0	0	0	0		0	0	0
3	Link1	-0.0071819	0.00031034	0.061598	0	0	0	2.2629	0.0035533	1.4877E-06	-3.269E-05	0.0024578	-1.066E-06	0.0036303	0	0	0	0	0	0	package://xin/meshes/Link1.STL	0.75294	0.75294	0.75294	1	0	0	0	0	0	0	package://xin/meshes/Link1.STL		一号臂驱动单元-1;3.1-二号臂驱动单元-1	坐标系1	基准轴1	j1	continuous	0	0	0.024	0	0	0	base_link	0	0	1	60	3.14
4	Link2	0.22947	-0.0031632	-0.0022707	0	0	0	0.97482	0.00042566	0.00027677	-1.1303E-15	0.0043535	-6.9832E-13	0.0047666	0	0	0	0	0	0	package://xin/meshes/Link2.STL	0.75294	0.75294	0.75294	1	0	0	0	0	0	0	package://xin/meshes/Link2.STL		3.1-一号臂-1	坐标系2	基准轴2	j2	revolute	-0.001395	0	0.1015	1.5708	0	-1.5708	Link1	0	0	1	60	3.14	0	3.14
5	Link3	0.086963	0.0016734	-0.017806	0	0	0	0.72964	0.00028636	1.1866E-05	-4.7151E-08	0.00040609	8.3967E-07	0.00030158	0	0	0	0	0	0	package://xin/meshes/Link3.STL	0.75294	0.75294	0.75294	1	0	0	0	0	0	0	package://xin/meshes/Link3.STL		3.1-二号臂主臂-1	坐标系3	基准轴3	j3	revolute	0.3265	0	-0.0071975	0	0	0	Link2	0	0	1	20	3.14	0	1.57
6	Link4	5.52951427810755E-05	-0.00230270444841696	0.109727165961792	0	0	0	0.541483189887007	0.000263059603979983	1.23868002229671E-08	-1.24134280810698E-08	0.000284201134854818	1.12515113310631E-06	0.000145605109171895	0	0	0	0	0	0	package://xin/meshes/Link4.STL	0.752941176470588	0.752941176470588	0.752941176470588	1	0	0	0	0	0	0	package://xin/meshes/Link4.STL		3.1-二号臂回转臂-1	坐标系4	基准轴4	j4	continuous	0.0905	0.052775	0.0058025	1.5708	0	3.1416	Link3	0	0	1	20	3.14
7	Link5	0.056542	0.0013106	0.0010268	0	0	0	0.21817	8.1275E-05	1.143E-08	5.0118E-07	8.1233E-05	1.1372E-08	8.3976E-05	0	0	0	0	0	0	package://xin/meshes/Link5.STL	0.75294	0.75294	0.75294	1	0	0	0	0	0	0	package://xin/meshes/Link5.STL		三号臂-1	坐标系5	基准轴5	j5	revolute	0.001627	0	0.18467	1.5708	0	0	Link4	0	0	1	20	3.14	0	3.14
8	Link6	-7.7997E-06	1.2767E-05	0.10159	0	0	0	0.56255	0.00025673	-1.884E-06	-1.1047E-07	0.00016698	-7.6179E-08	0.00024233	0	0	0	0	0	0	package://xin/meshes/Link6.STL	0.75294	0.75294	0.75294	1	0	0	0	0	0	0	package://xin/meshes/Link6.STL		机械爪3.1-2	坐标系6	基准轴6	j6	revolute	0.10487	0.0013347	0	1.5708	0	1.5708	Link5	0	0	1	20	3.14	0	3.66