IK_qp/kine_ctrl/urdf_rm75/RM75-B.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	0.00049987	5.2709E-05	0.060019	0	0	0	0.83887	0.0017232	-3.1058E-06	-3.7924E-05	0.0017051	1.3691E-06	0.00090158	0	0	0	0	0	0	package://RM75-B/meshes/base_link.STL	1	1	1	1	0	0	0	0	0	0	package://RM75-B/meshes/base_link.STL		连杆1-1	base_link				0	0	0	0	0	0		0	0	0
3	link_1	1.4803E-07	-0.021108	-0.025186	0	0	0	0.59354	0.0012661	6.0354E-09	-6.3788E-09	0.0011817	-0.00021121	0.00056132	0	0	0	0	0	0	package://RM75-B/meshes/link_1.STL	1	1	1	1	0	0	0	0	0	0	package://RM75-B/meshes/link_1.STL		连杆2-1	link_1	joint_1	joint_1	revolute	0	0	0.2405	0	0	0	base_link	0	0	1	60	3.14	-3.106	3.106
4	link_2	4.2145E-07	-0.076129	0.011078	0	0	0	0.43285	0.0012584	1.4694E-09	-5.7413E-09	0.00031747	0.000279	0.0012225	0	0	0	0	0	0	package://RM75-B/meshes/link_2.STL	1	1	1	1	0	0	0	0	0	0	package://RM75-B/meshes/link_2.STL		连杆3-1	link_2	joint_2	joint_2	revolute	0	0	0	-1.5708	0	0	link_1	0	0	1	60	3.14	-2.2689	2.2689
5	link_3	-3.2093E-07	-0.023545	-0.027347	0	0	0	0.43132	0.00079433	1.02E-09	1.3908E-08	0.00073037	-0.00014262	0.00031507	0	0	0	0	0	0	package://RM75-B/meshes/link_3.STL	1	1	1	1	0	0	0	0	0	0	package://RM75-B/meshes/link_3.STL		连杆4-1	link_3	joint_3	joint_3	revolute	0	-0.256	0	1.5708	0	0	link_2	0	0	1	30	3.14	-3.106	3.106
6	link_4	5.0722E-06	-0.059593	0.010569	0	0	0	0.28963	0.00063737	7.0681E-08	3.8708E-08	0.00015648	0.00014461	0.00061418	0	0	0	0	0	0	package://RM75-B/meshes/link_4.STL	1	1	1	1	0	0	0	0	0	0	package://RM75-B/meshes/link_4.STL		连杆5-1	link_4	joint_4	joint_4	revolute	0	0	0	-1.5708	0	0	link_3	0	0	1	30	3.14	-2.356	2.356
7	link_5	2.7551E-07	-0.018042	-0.02154	0	0	0	0.23942	0.00028595	1.9823E-09	-1.192E-09	0.00026273	-4.424E-05	0.0001199	0	0	0	0	0	0	package://RM75-B/meshes/link_5.STL	1	1	1	1	0	0	0	0	0	0	package://RM75-B/meshes/link_5.STL		连杆6-1	link_5	joint_5	joint_5	revolute	0	-0.21	0	1.5708	0	0	link_4	0	0	1	10	3.14	-3.106	3.106
8	link_6	3.4947E-06	-0.059381	0.0073681	0	0	0	0.2188	0.00035054	3.4456E-08	1.7975E-08	0.00010493	7.8243E-05	0.00033448	0	0	0	0	0	0	package://RM75-B/meshes/link_6.STL	1	1	1	1	0	0	0	0	0	0	package://RM75-B/meshes/link_6.STL		连杆7-1	link_6	joint_6	joint_6	revolute	0	0	0	-1.5708	0	0	link_5	0	0	1	10	3.14	-2.234	2.234
9	link_7	0.00081557	1.3323E-05	-0.012705	0	0	0	0.065037	2.1144E-05	2.2774E-08	2.5471E-08	1.8109E-05	1.019E-08	3.19E-05	0	0	0	0	0	0	package://RM75-B/meshes/link_7.STL	1	1	1	1	0	0	0	0	0	0	package://RM75-B/meshes/link_7.STL		末端法兰件 方案一-1	link_7	joint_7	joint_7	revolute	0	-0.144	0	1.5708	0	0	link_6	0	0	1	10	3.14	-6.28	6.28