houyongdi/dreamDeckAutopilot
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houyongdi
2026-07-27 13:51:19 +08:00
commit 7bec56ca51
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sensors/vehicle_description/urdf/vehicle_description.csv
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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
base_link,0.00287429160595661,0.174159796787131,0.00491148866316496,0,0,0,27.4495664552471,0.469946390547681,0.000156709509997871,-0.00147225705088748,0.665013846116071,-0.0060207242390497,0.389149287792344,0,0,0,0,0,0,package://vehicle_description/meshes/base_link.STL,0.529411764705882,0.549019607843137,0.549019607843137,1,0,0,0,0,0,0,package://vehicle_description/meshes/base_link.STL,,XJ05-03-01-1;XJ05-01-00悬挂-1;车体加强板-1;车体加强板2-1;XJ05-02-00悬挂-1;前盖板装配体-1;后盖板装配体-1;电机装配体-1;头部模块不旋转0111-1;头部面板海淀公园-1;头部壳体0716海淀公园-1;耳朵左-1;脸颊左-1;脸颊右-1;巡检-外壳总成1海淀公园-1;XJ05-01-00悬挂-2/XJ05-01-07固定板-1;XJ05-01-00悬挂-2/XJ05-01-05双叉臂-1;XJ05-01-00悬挂-2/XJ05-01-05双叉臂-2;XJ05-01-00悬挂-2/XJ05-01-01-1;XJ05-01-00悬挂-2/ZLLG80ASM250-4096 V2.0单出轴-1;XJ05-02-00悬挂-2/XJ05-01-011-1;XJ05-02-00悬挂-2/万向轮轴-1;XJ05-02-00悬挂-2/OW200-00-02-L-01带轴承(1)-1;XJ05-02-00悬挂-2/XJ05-01-03-1;XJ05-02-00悬挂-2/固定块09-1;XJ05-02-00悬挂-2/XJ05-01-02-1;XJ05-02-00悬挂-2/减震器2-1;XJ05-02-00悬挂-2/弹簧-1;XJ05-01-00悬挂-2/减震器1-1;XJ05-01-00悬挂-2/减震器2-1;XJ05-01-00悬挂-2/弹簧-2;XJ05-01-00悬挂-2/XJ05-01-03-1;XJ05-01-00悬挂-2/XJ05-01-02-1;XJ05-01-00悬挂-2/固定块07-1;XJ05-03-01-3;XJ05-02-00悬挂-2/减震器1-1;XJ05-02-00悬挂-2/万向轮盖-1;FA_SHANG_GAI_180-1;车体-1,Origin_global,,,,0,0,0,0,0,0,,0,0,0,,,,,,,,,,,,
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 0.00287429160595661 0.174159796787131 0.00491148866316496 0 0 0 27.4495664552471 0.469946390547681 0.000156709509997871 -0.00147225705088748 0.665013846116071 -0.0060207242390497 0.389149287792344 0 0 0 0 0 0 package://vehicle_description/meshes/base_link.STL 0.529411764705882 0.549019607843137 0.549019607843137 1 0 0 0 0 0 0 package://vehicle_description/meshes/base_link.STL XJ05-03-01-1;XJ05-01-00悬挂-1;车体加强板-1;车体加强板2-1;XJ05-02-00悬挂-1;前盖板装配体-1;后盖板装配体-1;电机装配体-1;头部模块不旋转0111-1;头部面板海淀公园-1;头部壳体0716海淀公园-1;耳朵左-1;脸颊左-1;脸颊右-1;巡检-外壳总成1海淀公园-1;XJ05-01-00悬挂-2/XJ05-01-07固定板-1;XJ05-01-00悬挂-2/XJ05-01-05双叉臂-1;XJ05-01-00悬挂-2/XJ05-01-05双叉臂-2;XJ05-01-00悬挂-2/XJ05-01-01-1;XJ05-01-00悬挂-2/ZLLG80ASM250-4096 V2.0单出轴-1;XJ05-02-00悬挂-2/XJ05-01-011-1;XJ05-02-00悬挂-2/万向轮轴-1;XJ05-02-00悬挂-2/OW200-00-02-L-01带轴承(1)-1;XJ05-02-00悬挂-2/XJ05-01-03-1;XJ05-02-00悬挂-2/固定块09-1;XJ05-02-00悬挂-2/XJ05-01-02-1;XJ05-02-00悬挂-2/减震器2-1;XJ05-02-00悬挂-2/弹簧-1;XJ05-01-00悬挂-2/减震器1-1;XJ05-01-00悬挂-2/减震器2-1;XJ05-01-00悬挂-2/弹簧-2;XJ05-01-00悬挂-2/XJ05-01-03-1;XJ05-01-00悬挂-2/XJ05-01-02-1;XJ05-01-00悬挂-2/固定块07-1;XJ05-03-01-3;XJ05-02-00悬挂-2/减震器1-1;XJ05-02-00悬挂-2/万向轮盖-1;FA_SHANG_GAI_180-1;车体-1 Origin_global 0 0 0 0 0 0 0 0 0