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,-0.037979422359657,-0.00314478249004299,-0.0259198905321653,0,0,0,2.4239552885625,0.0691541872284658,0.000423483205221006,-0.000201466160013829,0.0588857794520233,0.000250049528136794,0.125132015686105,0,0,0,0,0,0,package://tracer2.0_description/meshes/base_link.STL,1,1,1,1,0,0,0,0,0,0,package://tracer2.0_description/meshes/base_link.STL,,33-1;侧贴纸-1;31-1;15-2;05-2;急停开关 -蓝波22-1;14-1;32-1;37-1;05-4;平面锁-1;05-1;15-1;006-1;07-2;07-1;05-3;06-1;灯条-1;开关模块D-1;前贴纸-1;侧贴纸-2;航插接头-2;航插接头-1;急停开关 -蓝波22-2;14-2,坐标系1,,,,0,0,0,0,0,0,,0,0,0,,,,,,,,,,,,
right_link,4.7341E-15,1.5543E-15,-0.005,0,0,0,0.14836,0.00013099,3.4159E-20,-4.7556E-20,0.00013099,1.0561E-21,0.00023781,0,0,0,0,0,0,package://tracer2.0_description/meshes/right_link.STL,1,1,1,1,0,0,0,0,0,0,package://tracer2.0_description/meshes/right_link.STL,,驱动轮-2,坐标系3,基准轴2,right_joint,continuous,-0.018818,-0.2537,-0.0905,-1.5708,0,0,base_link,0,0,1,,,,,,,,,,,,
left_Link,-8.2507E-18,0,-0.005,0,0,0,0.14836,0.00013099,6.6936E-21,1.4318E-19,0.00013099,-5.3812E-21,0.00023781,0,0,0,0,0,0,package://tracer2.0_description/meshes/left_Link.STL,1,1,1,1,0,0,0,0,0,0,package://tracer2.0_description/meshes/left_Link.STL,,驱动轮-1,坐标系2,基准轴1,left_joint,continuous,-0.018818,0.2537,-0.0905,1.5708,0,0,base_link,0,0,1,,,,,,,,,,,,
right_front_link,-0.013166,2.7397E-05,0.04181,0,0,0,0.2864,0.00029479,5.5901E-08,5.9543E-05,0.00032696,-1.5316E-07,0.00020885,0,0,0,0,0,0,package://tracer2.0_description/meshes/right_front_link.STL,1,1,1,1,0,0,0,0,0,0,package://tracer2.0_description/meshes/right_front_link.STL,,万向轮-2,坐标系6,,right_front_joint,fixed,0.23918,-0.1977,-0.058,3.1416,0,0,base_link,0,0,0,,,,,,,,,,,,
right_rear_link,-0.013166,2.7397E-05,0.04181,0,0,0,0.2864,0.00029479,5.5901E-08,5.9543E-05,0.00032696,-1.5316E-07,0.00020885,0,0,0,0,0,0,package://tracer2.0_description/meshes/right_rear_link.STL,1,1,1,1,0,0,0,0,0,0,package://tracer2.0_description/meshes/right_rear_link.STL,,万向轮-3,坐标系7,,right_rea_joint,fixed,-0.27082,-0.183,-0.058,3.1416,0,0,base_link,0,0,0,,,,,,,,,,,,
left_front_link,-0.013166,-2.7397E-05,-0.04181,0,0,0,0.2864,0.00029479,-5.5901E-08,-5.9543E-05,0.00032696,-1.5316E-07,0.00020885,0,0,0,0,0,0,package://tracer2.0_description/meshes/left_front_link.STL,1,1,1,1,0,0,0,0,0,0,package://tracer2.0_description/meshes/left_front_link.STL,,万向轮-1,坐标系4,,left_front_joint,fixed,0.23918,0.1977,-0.058,0,0,0,base_link,0,0,0,,,,,,,,,,,,
left_rear_link,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,package://tracer2.0_description/meshes/left_rear_link.STL,1,1,1,1,0,0,0,0,0,0,package://tracer2.0_description/meshes/left_rear_link.STL,,万向轮-4,坐标系5,,left_rear_joint,fixed,-0.27077,0.18305,-0.058,0,0,0,base_link,0,0,0,,,,,,,,,,,,