7 lines
4.9 KiB
Plaintext
7 lines
4.9 KiB
Plaintext
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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
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base_link,0.0070402,-0.0046035,0.032982,0,0,0,9.1966,0.024645,6.9322E-07,1.5236E-07,0.028901,-4.7002E-05,0.049888,0,0,0,0,0,0,package://rm_urdf_ff/meshes/base_link.STL,0.75294,0.75294,0.75294,1,0,0,0,0,0,0,package://rm_urdf_ff/meshes/base_link.STL,,底盘1.5-1;中期过渡云台-1/RoboMaster GM6020 直流无刷电机-3;中期过渡云台-1/双通铜柱M5×45-3;中期过渡云台-1/回转支承轴承-1;中期过渡云台-1/双通铜柱M5×45-4;中期过渡云台-1/yaw轴转子板-1;中期过渡云台-1/云台支板-1;中期过渡云台-1/双通铜柱M5×45-1;中期过渡云台-1/云台支板-2;中期过渡云台-1/yaw轴安装板-1;中期过渡云台-1/双通铜柱M5×45-2;中期过渡云台-1/滑环安装板-1,base,,,,0,0,0,0,0,0,,0,0,0,,,,,,,,,,,,
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yaw_link,0.043935,-0.037671,0.15402,0,0,0,0.91059,0.0024154,-1.4237E-05,-7.1292E-05,0.0019981,-1.0283E-05,0.0024657,0,0,0,0,0,0,package://rm_urdf_ff/meshes/yaw_link.STL,1,1,1,1,0,0,0,0,0,0,package://rm_urdf_ff/meshes/yaw_link.STL,,中期过渡云台-1/上云台支撑-1;中期过渡云台-1/上云台支撑-2;中期过渡云台-1/上云台弹舱底板-1;中期过渡云台-1/3拨盘装配-1;中期过渡云台-1/上云台弹舱后板-2;中期过渡云台-1/弹舱前挡板-2;中期过渡云台-1/弹舱上挡板-1;中期过渡云台-1/线仓门-1;中期过渡云台-1/上云台下支撑-8;中期过渡云台-1/下云台安装板-1;中期过渡云台-1/叉线板子-2;中期过渡云台-1/弹舱左侧板3-4;中期过渡云台-1/弹舱左侧板-2;中期过渡云台-1/6020固定板-3;中期过渡云台-1/2_组合灯条-2;中期过渡云台-1/灯条固定-6;中期过渡云台-1/灯条固定-5;中期过渡云台-1/上云台弹链-1;中期过渡云台-1/弹舱右侧板-2;中期过渡云台-1/上云台侧支撑-1;中期过渡云台-1/弹舱左侧板2-1;中期过渡云台-1/上云台下支撑-9;中期过渡云台-1/上云台弹舱盖-1;中期过渡云台-1/战队合页-1,yaw,yaw_axis,yaw_joint,continuous,0,0,0.1245,0,0,0,base_link,0,0,1,,,,,,,,,,,,
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pitch_link,-0.00030478,0.061449,-0.0008877,0,0,0,0.99446,0.0016756,-1.0588E-06,3.3265E-08,0.00055773,-3.9108E-06,0.0012579,0,0,0,0,0,0,package://rm_urdf_ff/meshes/pitch_link.STL,0.79216,0.81961,0.93333,1,0,0,0,0,0,0,package://rm_urdf_ff/meshes/pitch_link.STL,,中期过渡云台-1/RoboMaster GM6020 直流无刷电机-2;中期过渡云台-1/发射机构下-9/32下云台发射板1-1;中期过渡云台-1/发射机构下-9/32下云台发射板2-1;中期过渡云台-1/双枪模块-1/双枪切换-1;中期过渡云台-1/双枪模块-1/RM2019裁判系统测速模块SM01-1;中期过渡云台-1/双枪模块-1/双枪测速安装铝件-1;中期过渡云台-1/双枪模块-1/RM2019裁判系统测速模块SM01-3;中期过渡云台-1/发射机构下-9/3摩擦轮装配-1/32_大弹丸发射摩擦轮-1;中期过渡云台-1/发射机构下-9/3摩擦轮装配-1/32_3508拆-1;中期过渡云台-1/发射机构下-9/3摩擦轮装配-2/32_大弹丸发射摩擦轮-1;中期过渡云台-1/发射机构下-9/3摩擦轮装配-2/32_3508拆-1;中期过渡云台-1/发射机构下-9/32下摩擦轮安装板-1;中期过渡云台-1/舵机打印支架-2;中期过渡云台-1/双枪模块-1/双枪测速安装铝件-3;中期过渡云台-1/20kg舵机标准模型-2;中期过渡云台-1/综合支架-2;中期过渡云台-1/相机顶板-1,pitch,pitch_axis,pitch_joint,continuous,-0.022511,0,0.20965,0,0,0,yaw_link,-1,0,0,,,,,,,,,,,,
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camera_link,-1.6944E-05,-0.02258,0.0010833,0,0,0,0.03311,1.1155E-05,-6.6506E-09,-4.853E-09,4.112E-06,1.0516E-06,1.1054E-05,0,0,0,0,0,0,package://rm_urdf_ff/meshes/camera_link.STL,1,1,1,1,0,0,0,0,0,0,package://rm_urdf_ff/meshes/camera_link.STL,,中期过渡云台-1/工业相机-2020-1-20-6,camera,Axis_camera_joint,camera_joint,fixed,-0.031,0.12283,0.06306,0,0,0,pitch_link,0,0,0,,,,,,,,,,,,
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imu_ink,5.9397E-15,0.0015,1.5765E-14,0,0,0,0.0055829,7.608E-07,-1.0074E-20,2.8577E-21,1.7127E-06,2.5037E-21,9.6027E-07,0,0,0,0,0,0,package://rm_urdf_ff/meshes/imu_ink.STL,1,1,1,1,0,0,0,0,0,0,package://rm_urdf_ff/meshes/imu_ink.STL,,中期过渡云台-1/C板底板-3,imu_link,Axis_imu_joint,imu_joint,fixed,0.012182,-0.167,0,0,0,0,pitch_link,0,0,0,,,,,,,,,,,,
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