RM2023_SENTRY_NAV/rm_urdf_ff/urdf/rm_urdf_ff.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	0.0070402	-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
3	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
4	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
5	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
6	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