rover-ros2/src/arm_description/urdf/ASTRA_Arm.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	0.026661	-0.017083	-0.072681	0	0	0	1.344	0.0071986	-1.8109E-06	-4.371E-06	0.0087125	1.3418E-07	0.015884	0	0	0	0	0	0	package://URDF v2 - axes added/meshes/base_link.STL	0.89804	0.91765	0.92941	1	0	0	0	0	0	0	package://URDF v2 - axes added/meshes/base_link.STL		Turret Assembly-1/Base Plate OLD-2;Turret Assembly-1/Magnet Ring-1;Turret Assembly-1/Bearing Stack Pinch Ring-1;Turret Assembly-1/Ring Gear-1	Origin_global				0	0	0	0	0	0		0	0	0
3	Axis_0_Plate	0.025635	0.047115	0.021109	0	0	0	2.045	0.0097744	2.0744E-07	0.00060246	0.012437	-2.2545E-05	0.00611	0	0	0	0	0	0	package://URDF v2 - axes added/meshes/Axis_0_Plate.STL	0.89804	0.91765	0.92941	1	0	0	0	0	0	0	package://URDF v2 - axes added/meshes/Axis_0_Plate.STL		Turret Assembly-1/Pinion Gear Mounting Plate-1;Turret Assembly-1/Motor Adjustment Plate-1;Turret Assembly-1/17HS19-1684S-PG14.step-1;Turret Assembly-1/Spur Gear Retainer-1;Turret Assembly-1/1088A31_Inside-Corner Reinforcing Bracket-1;Turret Assembly-1/1088A31_Inside-Corner Reinforcing Bracket-2;Turret Assembly-1/1088A31_Inside-Corner Reinforcing Bracket-4;Turret Assembly-1/Electrical Box Assembly-1/Clamshell-1;Turret Assembly-1/Electrical Box Assembly-1/Sheet Base-2;Turret Assembly-1/Electrical Box Assembly-1/Cam Slot-2;Turret Assembly-1/Electrical Box Assembly-1/Slot guide-2;Turret Assembly-1/Electrical Box Assembly-1/Slot guide-1;Turret Assembly-1/Electrical Box Assembly-1/Cam Slot-1;Axis 1 Full Assembly-1/Axis 1 Outer Frame-1/ASTRA-01-00-005-2;Axis 1 Full Assembly-1/Axis 1 Outer Frame-1/ASTRA-01-00-005-1;Turret Assembly-1/1088A31_Inside-Corner Reinforcing Bracket-3	Origin_Axis_0_Joint	Axis1	Axis_0_Joint	revolute	0.018772	-0.020734	-0.04971	1.5708	0	3.1115	base_link	0	-1	0	0	0	0	0
4	Axis_1_Segment	0.317731812584795	0.0226837932394467	-2.94234579792906E-05	0	0	0	2.10107115350287	0.00185099460285527	-6.85595125576909E-06	-2.99093842113918E-07	0.00462248035875048	2.91093713403385E-07	0.00297641069201651	0	0	0	0	0	0	package://URDF v2 - axes added/meshes/Axis_1_Segment.STL	0.898039215686275	0.917647058823529	0.929411764705882	1	0	0	0	0	0	0	package://URDF v2 - axes added/meshes/Axis_1_Segment.STL		Axis 1 Full Assembly-1/Axis 1 Outer Ring-1/ASTRA-01-01-002-1;Axis 1 Full Assembly-1/Axis 1 Outer Ring-1/ASTRA-01-01-001-1;Axis 1 Full Assembly-1/Axis 1 Outer Ring-1/ASTRA-01-01-002-2;Axis 0-1 Forearm-1/ASTRA-02-00-009-1;Axis 0-1 Forearm-1/2024 Axis 0-1 CF Tube-1;Axis 0-1 Forearm-1/ASTRA-02-00-009-2;ASTRA-02-00-000-2/ASTRA-02-00-006-1;ASTRA-02-00-000-2/ASTRA-02-00-007-2;ASTRA-02-00-000-2/ASTRA-02-00-007-1;ASTRA-02-00-000-2/Encoder Assembly 20 30-1/Encoder Mount 20 30-1;ASTRA-02-00-000-2/Encoder Assembly 20 30-1/Encoder Board V2-1;ASTRA-02-00-000-2/Encoder Assembly 20 30-1/Encoder Board Top 2030-1;ASTRA-02-00-000-2/CY NEO 550 Motor & Gearbox Axis 2-1/CY NEO 550 Gearbox Output-1/REV-41-1604.STEP-1/REV-41-1604-1.STEP-1;ASTRA-02-00-000-2/CY NEO 550 Motor & Gearbox Axis 2-1/Cy NEO 550 Adapter Plate Axis 2-1;ASTRA-02-00-000-2/CY NEO 550 Motor & Gearbox Axis 2-1/CY NEO 550 Motor Gearbox Mount-1;ASTRA-02-00-000-2/CY NEO 550 Motor & Gearbox Axis 2-1/CY NEO 550 Gearbox 5-1 Stage-1;ASTRA-02-00-000-2/CY NEO 550 Motor & Gearbox Axis 2-1/CY NEO 550 Gearbox 5-1 Stage-2;ASTRA-02-00-000-2/CY NEO 550 Motor & Gearbox Axis 2-1/CY NEO 550 Gearbox 5-1 Stage-3;ASTRA-02-00-000-2/CY NEO 550 Motor & Gearbox Axis 2-1/CY NEO 550-1;ASTRA-02-00-000-2/CY NEO 550 Motor & Gearbox Axis 2-1/CY NEO 550 Gearbox Output-1/REV-41-1604.STEP-1/REV-41-1604-2.STEP-1	Origin_Axis_1_Joint	Axis2	Axis_1_Joint	revolute	-0.0271654135185528	0.0927245490180083	0.00384109909109076	-3.14159265358977	-0.00524713054608625	1.5707963267949	Axis_0_Plate	0	-1	0	0	0	0	0
5	Axis_2_Segment	0.179701426719665	-0.0176131583689303	5.71147464441535E-05	0	0	0	3.13644489009951	0.00172062005671382	1.49995165753112E-05	3.0146547850231E-07	0.00419573957161135	2.86281305896603E-07	0.00280821030835127	0	0	0	0	0	0	package://URDF v2 - axes added/meshes/Axis_2_Segment.STL	0.898039215686275	0.917647058823529	0.929411764705882	1	0	0	0	0	0	0	package://URDF v2 - axes added/meshes/Axis_2_Segment.STL		ASTRA-02-00-000-2/ASTRA-02-00-003-1;ASTRA-02-00-000-2/ASTRA-02-00-004-1;ASTRA-02-00-000-2/ASTRA-02-00-003-2;Axis 1-2 Forearm-1/ASTRA-02-00-009-1;Axis 1-2 Forearm-1/2024 Axis 1-2 CF Tube-1;ASTRA-02-00-000-2/Encoder Assembly 20 30-1/Encoder Board Arm 2030-1;Axis 1-2 Forearm-1/ASTRA-02-00-009-2;ASTRA-03-00-000-1/ASTRA-02-00-006-1;ASTRA-03-00-000-1/ASTRA-02-00-007-1;ASTRA-03-00-000-1/ASTRA-02-00-007-2;ASTRA-03-00-000-1/Encoder Assembly 20 30-1/Encoder Mount 20 30-1;ASTRA-03-00-000-1/Encoder Assembly 20 30-1/Encoder Board V2-1;ASTRA-03-00-000-1/Encoder Assembly 20 30-1/Encoder Board Top 2030-1;ASTRA-03-00-000-1/CY NEO 550 Motor & Gearbox Axis 2-1/Cy NEO 550 Adapter Plate Axis 2-1;ASTRA-03-00-000-1/CY NEO 550 Motor & Gearbox Axis 2-1/CY NEO 550 Gearbox Output-1/REV-41-1604.STEP-1/REV-41-1604-2.STEP-1;ASTRA-03-00-000-1/CY NEO 550 Motor & Gearbox Axis 2-1/CY NEO 550 Gearbox Output-1/REV-41-1604.STEP-1/REV-41-1604-1.STEP-1;ASTRA-03-00-000-1/CY NEO 550 Motor & Gearbox Axis 2-1/CY NEO 550 Gearbox 5-1 Stage-3;ASTRA-03-00-000-1/CY NEO 550 Motor & Gearbox Axis 2-1/CY NEO 550 Gearbox 5-1 Stage-2;ASTRA-03-00-000-1/CY NEO 550 Motor & Gearbox Axis 2-1/CY NEO 550 Gearbox 5-1 Stage-1;ASTRA-03-00-000-1/CY NEO 550 Motor & Gearbox Axis 2-1/CY NEO 550-1;ASTRA-03-00-000-1/CY NEO 550 Motor & Gearbox Axis 2-1/CY NEO 550 Motor Gearbox Mount-1	Origin_Axis_2_Joint	Axis3	Axis_2_Joint	revolute	0.470027000000004	0.0126999999999999	0	3.14159265358979	0.000449358059257729	0	Axis_1_Segment	0	-1	0	0	0	0	0
6	Wrist	0.0258890113931529	-0.0205223442970055	6.01641698143966E-05	0	0	0	1.95105877103309	0.00117490634970832	8.14355696873965E-06	2.37060433355634E-09	0.0025492938141431	-4.81227026285992E-09	0.00159235737231991	0	0	0	0	0	0	package://URDF v2 - axes added/meshes/Wrist.STL	0.898039215686275	0.917647058823529	0.929411764705882	1	0	0	0	0	0	0	package://URDF v2 - axes added/meshes/Wrist.STL		ASTRA-03-00-000-1/ASTRA-02-00-003-1;ASTRA-03-00-000-1/ASTRA-03-00-004-1;ASTRA-03-00-000-1/ASTRA-02-00-003-2;ASTRA-03-00-000-1/Encoder Assembly 20 30-1/Encoder Board Arm 2030-1;Wrist Interface-1;FULLWristAssembly-1/Servobox-1/ServoBoxTruss-1;FULLWristAssembly-1/Servobox-1/LSS-Public-2/LSS-Public.STEP-1/LSS - Casing_LSS Generic.STEP-1;FULLWristAssembly-1/Servobox-1/LSS-Public-1/LSS-Public.STEP-1/LSS - Casing_LSS Generic.STEP-1;FULLWristAssembly-1/Servobox-1/ServoBoxBottomPlate-1;FULLWristAssembly-1/Servobox-1/GearBoxMountingPlate-1;FULLWristAssembly-1/Servobox-1/ServoBoxTruss-2;FULLWristAssembly-1/Servobox-1/ServoMountingWall-1;FULLWristAssembly-1/Servobox-1/ServoMountingWall-2;FULLWristAssembly-1/Differential Gear box-1/ShaftSupport-2;FULLWristAssembly-1/Differential Gear box-1/ShaftSupport-1;FULLWristAssembly-1/Servobox-1/Modified 266N381 For interface-1;FULLWristAssembly-1/Differential Gear box-1/2664N381_Metal Gear - 20 Degree Pressure Angle-3;FULLWristAssembly-1/TensionBar-1;FULLWristAssembly-1/Servobox-1/ServoHornAdapater-1;FULLWristAssembly-1/Servobox-1/ServoHornAdapater-2;FULLWristAssembly-1/Servobox-1/Modified 266N381 For interface-2;FULLWristAssembly-1/Differential Gear box-1/2664N381_Metal Gear - 20 Degree Pressure Angle-4;FULLWristAssembly-1/TensionBar-2	Origin_Axis_3_Joint	Axis4	Axis_3_Joint	revolute	0.393826999999998	0	0	0	-0.000409495780687665	0	Axis_2_Segment	0	-1	0	0	0	0	0
7	Diff_Carrier	-8.64620358677695E-06	-0.00516792807449162	-7.22608790769408E-07	0	0	0	0.0655351660884378	1.65846526943977E-05	3.62206129298215E-09	5.09422122565314E-10	4.25479683866677E-05	2.86164802173259E-10	3.87760449919773E-05	0	0	0	0	0	0	package://URDF v2 - axes added/meshes/Diff_Carrier.STL	0.792156862745098	0.819607843137255	0.933333333333333	1	0	0	0	0	0	0	package://URDF v2 - axes added/meshes/Diff_Carrier.STL		FULLWristAssembly-1/Differential Gear box-1/Endefector plate-2;FULLWristAssembly-1/Differential Gear box-1/2515N313_Metal Pinion-1;FULLWristAssembly-1/Differential Gear box-1/2515N314_Metal Bevel Gear-1;FULLWristAssembly-1/Differential Gear box-1/2515N313_Metal Pinion-2	Origin_Wrist_Differential_Joint	Axis5	Wrist_Differential_Joint	revolute	0.176692001200001	-0.00622300000004081	0	-3.05263944120951	1.57079631189374	1.65994236547327	Wrist	-1	0	0	0	0	0	0
8	End_Effector	-0.00327558376591462	0.00327411156667146	-0.0553569354578649	0	0	0	0.397605677640027	0.000631368000075726	-1.01357929540856E-09	-3.06601632900158E-06	0.000105800099414061	2.32813748604228E-09	0.000592001119919064	0	0	0	0	0	0	package://URDF v2 - axes added/meshes/End_Effector.STL	0.898039215686275	0.917647058823529	0.929411764705882	1	0	0	0	0	0	0	package://URDF v2 - axes added/meshes/End_Effector.STL		Assembley-1/Copy End_Effector_Mount-1;Assembley-1/Real Shit - Pin-1;Assembley-1/copy End_Effector Mount Center Block-1;Assembley-1/copy Real Shit - Middle Spacer Plate-1;Assembley-1/Copy Real Shit - Right Plate-1;Assembley-1/Copy Real Shit - Left Plate-1;Assembley-1/motor end deffector-1;Assembley-1/Motor adapter-2;Assembley-1/Copy Carbon Rod-1;Assembley-1/Copy Lead Screw-1;Assembley-1/Copy Carbon Rod-2	Origin_Wrist-EF_Roll_Joint	Axis6	Wrist-EF_Roll_Joint	continuous	0	0.01	0	-1.5708	-0.21566	-3.1416	Diff_Carrier	0	0	1
9	EF_Gripper_Right	3.60822483003176E-16	0.0395187564799554	-0.0785892929086096	0	0	0	0.0859306256217421	8.1015302646778E-05	2.5410988417629E-21	3.75123099070348E-19	8.51028632685389E-05	1.00631950096307E-08	5.50169350148622E-06	0	0	0	0	0	0	package://URDF v2 - axes added/meshes/EF_Gripper_Right.STL	0.898039215686275	0.917647058823529	0.929411764705882	1	0	0	0	0	0	0	package://URDF v2 - axes added/meshes/EF_Gripper_Right.STL		Assembley-1/Copy Left_Jaw_Bracket-3;Assembley-1/Gripper-2;Assembley-1/Copy Real Shit - Left Jaw Plate-2;Assembley-1/lead screw nut-2;Assembley-1/Copy Bushing Bearing - Bushing Bearing-1;Assembley-1/Copy Bushing Bearing - Bushing Bearing-4	Origin_Gripper_Slider_Right	Axis7	Gripper_Slider_Right	prismatic	0	0	-0.031677	0	0	3.1416	End_Effector	0	1	0	0	0	0	0
10	EF_Gripper_Left	0.000260261090099842	0.0391877753208171	-0.0810862651363518	0	0	0	0.0813132558225319	7.92230074239095E-05	8.60239969339994E-10	-3.27617434511821E-07	8.29877943429396E-05	9.84609377733742E-09	4.98027032334885E-06	0	0	0	0	0	0	package://URDF v2 - axes added/meshes/EF_Gripper_Left.STL	0.898039215686275	0.917647058823529	0.929411764705882	1	0	0	0	0	0	0	package://URDF v2 - axes added/meshes/EF_Gripper_Left.STL		Assembley-1/Copy Left_Jaw_Bracket-1;Assembley-1/Copy Real Shit - Left Jaw Plate-1;Assembley-1/Gripper-1;Assembley-1/lead screw nut-1;Assembley-1/Copy Bushing Bearing - Bushing Bearing-2;Assembley-1/Copy Bushing Bearing - Bushing Bearing-3	Origin_Gripper_Slider_Left	Axis7	Gripper_Slider_Left	prismatic	0	0	-0.031677	0	0	0	End_Effector	0	-1	0	0	0	0	0