looooog0421 · looooog0421 · Mar 10, 2026 · Mar 14, 2026 · Mar 14, 2026
diff --git a/.gitignore b/.gitignore
@@ -11,23 +11,10 @@ data/
 MUJOCO_LOG.TXT
 pcanview.log
 
-src/afp_mjc/env/AFPhead/meshes/
-src/afp_mjc/env/AFPhead/urdf/*.STL
-
-src/afp_mjc/env/flange_model/meshes/
-src/afp_mjc/env/flange_model/urdf/*.STL
-
-src/afp_mjc/env/flange_model2/meshes/
-src/afp_mjc/env/flange_model2/urdf/*.STL
-
-src/afp_mjc/env/90degree_model/meshes/
-src/afp_mjc/env/flange_model/urdf/*.STL
-
-src/afp_mjc/env/mujoco_ur5e/assets/
 
 src/il_capture/data/
-
 src/il_capture/calibrate/raw_data
 
 
-src/ur5e_control/src/ur5e_control/_pycache__
+__pycache__/
+*.pyc
diff --git a/src/AFP_controller/script/__pycache__/tension_control.cpython-38.pyc b/src/AFP_controller/script/__pycache__/tension_control.cpython-38.pyc
diff --git a/src/afp_mjc/env/120degree_model/CMakeLists.txt b/src/afp_mjc/env/120degree_model/CMakeLists.txt
@@ -0,0 +1,14 @@
+cmake_minimum_required(VERSION 2.8.3)
+
+project(120degree_model)
+
+find_package(catkin REQUIRED)
+
+catkin_package()
+
+find_package(roslaunch)
+
+foreach(dir config launch meshes urdf)
+	install(DIRECTORY ${dir}/
+		DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir})
+endforeach(dir)
diff --git a/src/afp_mjc/env/120degree_model/config/joint_names_120degree_model.yaml b/src/afp_mjc/env/120degree_model/config/joint_names_120degree_model.yaml
@@ -0,0 +1 @@
+controller_joint_names: ['', ]
diff --git a/src/afp_mjc/env/120degree_model/export.log b/src/afp_mjc/env/120degree_model/export.log
diff --git a/src/afp_mjc/env/120degree_model/launch/display.launch b/src/afp_mjc/env/120degree_model/launch/display.launch
@@ -0,0 +1,20 @@
+<launch>
+  <arg
+    name="model" />
+  <param
+    name="robot_description"
+    textfile="$(find 120degree_model)/urdf/120degree_model.urdf" />
+  <node
+    name="joint_state_publisher_gui"
+    pkg="joint_state_publisher_gui"
+    type="joint_state_publisher_gui" />
+  <node
+    name="robot_state_publisher"
+    pkg="robot_state_publisher"
+    type="robot_state_publisher" />
+  <node
+    name="rviz"
+    pkg="rviz"
+    type="rviz"
+    args="-d $(find 120degree_model)/urdf.rviz" />
+</launch>
diff --git a/src/afp_mjc/env/120degree_model/launch/gazebo.launch b/src/afp_mjc/env/120degree_model/launch/gazebo.launch
@@ -0,0 +1,20 @@
+<launch>
+  <include
+    file="$(find gazebo_ros)/launch/empty_world.launch" />
+  <node
+    name="tf_footprint_base"
+    pkg="tf"
+    type="static_transform_publisher"
+    args="0 0 0 0 0 0 base_link base_footprint 40" />
+  <node
+    name="spawn_model"
+    pkg="gazebo_ros"
+    type="spawn_model"
+    args="-file $(find 120degree_model)/urdf/120degree_model.urdf -urdf -model 120degree_model"
+    output="screen" />
+  <node
+    name="fake_joint_calibration"
+    pkg="rostopic"
+    type="rostopic"
+    args="pub /calibrated std_msgs/Bool true" />
+</launch>
diff --git a/src/afp_mjc/env/120degree_model/meshes/120degree_model.STL b/src/afp_mjc/env/120degree_model/meshes/120degree_model.STL
diff --git a/src/afp_mjc/env/120degree_model/meshes/parts/120degree_model_part_0.STL b/src/afp_mjc/env/120degree_model/meshes/parts/120degree_model_part_0.STL
diff --git a/src/afp_mjc/env/120degree_model/meshes/parts/120degree_model_part_1.STL b/src/afp_mjc/env/120degree_model/meshes/parts/120degree_model_part_1.STL
diff --git a/src/afp_mjc/env/120degree_model/meshes/parts/120degree_model_part_2.STL b/src/afp_mjc/env/120degree_model/meshes/parts/120degree_model_part_2.STL
diff --git a/src/afp_mjc/env/120degree_model/meshes/parts/120degree_model_part_3.STL b/src/afp_mjc/env/120degree_model/meshes/parts/120degree_model_part_3.STL
diff --git a/src/afp_mjc/env/120degree_model/meshes/parts/120degree_model_part_4.STL b/src/afp_mjc/env/120degree_model/meshes/parts/120degree_model_part_4.STL
diff --git a/src/afp_mjc/env/120degree_model/meshes/parts/120degree_model_part_5.STL b/src/afp_mjc/env/120degree_model/meshes/parts/120degree_model_part_5.STL
diff --git a/src/afp_mjc/env/120degree_model/meshes/parts/120degree_model_part_6.STL b/src/afp_mjc/env/120degree_model/meshes/parts/120degree_model_part_6.STL
diff --git a/src/afp_mjc/env/120degree_model/meshes/parts/120degree_model_part_7.STL b/src/afp_mjc/env/120degree_model/meshes/parts/120degree_model_part_7.STL
diff --git a/src/afp_mjc/env/120degree_model/meshes/parts/120degree_model_part_8.STL b/src/afp_mjc/env/120degree_model/meshes/parts/120degree_model_part_8.STL
diff --git a/src/afp_mjc/env/120degree_model/mjcf/120degree_model.xml b/src/afp_mjc/env/120degree_model/mjcf/120degree_model.xml
@@ -0,0 +1,44 @@
+<mujoco>
+  <asset>
+    <!-- <mesh name="120degree_model_visual_mesh" file="/home/lgx/Project/AFP/src/afp_mjc/env/120degree_model/meshes/120degree_model.STL"/> -->
+    <mesh name="120degree_model_col_0" file="/home/lgx/Project/AFP/src/afp_mjc/env/120degree_model/meshes/parts/120degree_model_part_0.STL"/>
+    <mesh name="120degree_model_col_1" file="/home/lgx/Project/AFP/src/afp_mjc/env/120degree_model/meshes/parts/120degree_model_part_1.STL"/>
+    <mesh name="120degree_model_col_2" file="/home/lgx/Project/AFP/src/afp_mjc/env/120degree_model/meshes/parts/120degree_model_part_2.STL"/>
+    <mesh name="120degree_model_col_3" file="/home/lgx/Project/AFP/src/afp_mjc/env/120degree_model/meshes/parts/120degree_model_part_3.STL"/>
+    <mesh name="120degree_model_col_4" file="/home/lgx/Project/AFP/src/afp_mjc/env/120degree_model/meshes/parts/120degree_model_part_4.STL"/>
+    <mesh name="120degree_model_col_5" file="/home/lgx/Project/AFP/src/afp_mjc/env/120degree_model/meshes/parts/120degree_model_part_5.STL"/>
+    <mesh name="120degree_model_col_6" file="/home/lgx/Project/AFP/src/afp_mjc/env/120degree_model/meshes/parts/120degree_model_part_6.STL"/>
+    <mesh name="120degree_model_col_7" file="/home/lgx/Project/AFP/src/afp_mjc/env/120degree_model/meshes/parts/120degree_model_part_7.STL"/>
+  </asset>
+
+  <worldbody>
+    <!-- <body name="120degree_model" pos="-0.63788575 -0.10203986 0.10228407  " quat="0.70166206 -0.0043159 -0.00123646 0.71249575"> -->
+    <body name="120degree_model" pos="-0.626058575 -0.18203986 -0.02328407" quat="-0.71249575 -0.00123646 0.0043159 0.70166206">
+        <!-- <geom type="mesh" mesh="120degree_model_visual_mesh" group="1"/> -->
+        <body name="col_0">
+            <geom type="mesh" mesh="120degree_model_col_0" group="2"/>
+        </body>
+        <body name="col_1">
+            <geom type="mesh" mesh="120degree_model_col_1" group="2"/>
+        </body>
+        <body name="col_2">
+            <geom type="mesh" mesh="120degree_model_col_2" group="2"/>
+        </body>
+        <body name="col_3">
+            <geom type="mesh" mesh="120degree_model_col_3" group="2"/>
+        </body>
+        <body name="col_4">
+            <geom type="mesh" mesh="120degree_model_col_4" group="2"/>
+        </body>
+        <body name="col_5">
+            <geom type="mesh" mesh="120degree_model_col_5" group="2"/>
+        </body>
+        <body name="col_6">
+            <geom type="mesh" mesh="120degree_model_col_6" group="2"/>
+        </body>
+        <body name="col_7">
+            <geom type="mesh" mesh="120degree_model_col_7" group="2"/>
+        </body>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/src/afp_mjc/env/120degree_model/package.xml b/src/afp_mjc/env/120degree_model/package.xml
@@ -0,0 +1,21 @@
+<package format="2">
+  <name>120degree_model</name>
+  <version>1.0.0</version>
+  <description>
+    <p>URDF Description package for 120degree_model</p>
+    <p>This package contains configuration data, 3D models and launch files
+for 120degree_model robot</p>
+  </description>
+  <author>TODO</author>
+  <maintainer email="TODO@email.com" />
+  <license>BSD</license>
+  <buildtool_depend>catkin</buildtool_depend>
+  <depend>roslaunch</depend>
+  <depend>robot_state_publisher</depend>
+  <depend>rviz</depend>
+  <depend>joint_state_publisher_gui</depend>
+  <depend>gazebo</depend>
+  <export>
+    <architecture_independent />
+  </export>
+</package>
diff --git a/src/afp_mjc/env/120degree_model/urdf/120degree_model.csv b/src/afp_mjc/env/120degree_model/urdf/120degree_model.csv
@@ -0,0 +1,2 @@
+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,-1.66558744151121E-17,-0.0104159414126801,0.0200047656957359,0,0,0,0.58117137694643,0.00187979355618849,2.92938722267831E-18,-8.66486024079702E-19,0.00235801610989525,0.000548852531474529,0.00339625329260278,0,0,0,0,0,0,package://120degree_model/meshes/base_link.STL,1,1,1,1,0,0,0,0,0,0,package://120degree_model/meshes/base_link.STL,,,坐标系1,,,,0,0,0,0,0,0,,0,0,0,,,,,,,,,,,,
diff --git a/src/afp_mjc/env/120degree_model/urdf/120degree_model.urdf b/src/afp_mjc/env/120degree_model/urdf/120degree_model.urdf
@@ -0,0 +1,47 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com) 
+     Commit Version: 1.6.0-4-g7f85cfe  Build Version: 1.6.7995.38578
+     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
+<robot
+  name="120degree_model">
+  <link
+    name="base_link">
+    <inertial>
+      <origin
+        xyz="-1.66558744151121E-17 -0.0104159414126801 0.0200047656957359"
+        rpy="0 0 0" />
+      <mass
+        value="0.58117137694643" />
+      <inertia
+        ixx="0.00187979355618849"
+        ixy="2.92938722267831E-18"
+        ixz="-8.66486024079702E-19"
+        iyy="0.00235801610989525"
+        iyz="0.000548852531474529"
+        izz="0.00339625329260278" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://120degree_model/meshes/base_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://120degree_model/meshes/base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/src/afp_mjc/env/90degree_model/meshes/90degree_model.STL b/src/afp_mjc/env/90degree_model/meshes/90degree_model.STL
diff --git a/src/afp_mjc/env/90degree_model/meshes/parts/90degree_model_part_0.STL b/src/afp_mjc/env/90degree_model/meshes/parts/90degree_model_part_0.STL
diff --git a/src/afp_mjc/env/90degree_model/meshes/parts/90degree_model_part_1.STL b/src/afp_mjc/env/90degree_model/meshes/parts/90degree_model_part_1.STL
diff --git a/src/afp_mjc/env/90degree_model/meshes/parts/90degree_model_part_10.STL b/src/afp_mjc/env/90degree_model/meshes/parts/90degree_model_part_10.STL
diff --git a/src/afp_mjc/env/90degree_model/meshes/parts/90degree_model_part_11.STL b/src/afp_mjc/env/90degree_model/meshes/parts/90degree_model_part_11.STL
diff --git a/src/afp_mjc/env/90degree_model/meshes/parts/90degree_model_part_12.STL b/src/afp_mjc/env/90degree_model/meshes/parts/90degree_model_part_12.STL
diff --git a/src/afp_mjc/env/90degree_model/meshes/parts/90degree_model_part_13.STL b/src/afp_mjc/env/90degree_model/meshes/parts/90degree_model_part_13.STL
diff --git a/src/afp_mjc/env/90degree_model/meshes/parts/90degree_model_part_14.STL b/src/afp_mjc/env/90degree_model/meshes/parts/90degree_model_part_14.STL
diff --git a/src/afp_mjc/env/90degree_model/meshes/parts/90degree_model_part_15.STL b/src/afp_mjc/env/90degree_model/meshes/parts/90degree_model_part_15.STL
diff --git a/src/afp_mjc/env/90degree_model/meshes/parts/90degree_model_part_16.STL b/src/afp_mjc/env/90degree_model/meshes/parts/90degree_model_part_16.STL
diff --git a/src/afp_mjc/env/90degree_model/meshes/parts/90degree_model_part_17.STL b/src/afp_mjc/env/90degree_model/meshes/parts/90degree_model_part_17.STL
diff --git a/src/afp_mjc/env/90degree_model/meshes/parts/90degree_model_part_18.STL b/src/afp_mjc/env/90degree_model/meshes/parts/90degree_model_part_18.STL
diff --git a/src/afp_mjc/env/90degree_model/meshes/parts/90degree_model_part_2.STL b/src/afp_mjc/env/90degree_model/meshes/parts/90degree_model_part_2.STL
diff --git a/src/afp_mjc/env/90degree_model/meshes/parts/90degree_model_part_3.STL b/src/afp_mjc/env/90degree_model/meshes/parts/90degree_model_part_3.STL
diff --git a/src/afp_mjc/env/90degree_model/meshes/parts/90degree_model_part_4.STL b/src/afp_mjc/env/90degree_model/meshes/parts/90degree_model_part_4.STL
diff --git a/src/afp_mjc/env/90degree_model/meshes/parts/90degree_model_part_5.STL b/src/afp_mjc/env/90degree_model/meshes/parts/90degree_model_part_5.STL
diff --git a/src/afp_mjc/env/90degree_model/meshes/parts/90degree_model_part_6.STL b/src/afp_mjc/env/90degree_model/meshes/parts/90degree_model_part_6.STL
diff --git a/src/afp_mjc/env/90degree_model/meshes/parts/90degree_model_part_7.STL b/src/afp_mjc/env/90degree_model/meshes/parts/90degree_model_part_7.STL
diff --git a/src/afp_mjc/env/90degree_model/meshes/parts/90degree_model_part_8.STL b/src/afp_mjc/env/90degree_model/meshes/parts/90degree_model_part_8.STL
diff --git a/src/afp_mjc/env/90degree_model/meshes/parts/90degree_model_part_9.STL b/src/afp_mjc/env/90degree_model/meshes/parts/90degree_model_part_9.STL
diff --git a/src/afp_mjc/env/90degree_model/mjcf/90degree_model.xml b/src/afp_mjc/env/90degree_model/mjcf/90degree_model.xml
@@ -16,6 +16,10 @@
     <mesh name="90degree_model_col_12" file="/home/lgx/Project/AFP/src/afp_mjc/env/90degree_model/meshes/parts/90degree_model_part_12.STL"/>
     <mesh name="90degree_model_col_13" file="/home/lgx/Project/AFP/src/afp_mjc/env/90degree_model/meshes/parts/90degree_model_part_13.STL"/>
     <mesh name="90degree_model_col_14" file="/home/lgx/Project/AFP/src/afp_mjc/env/90degree_model/meshes/parts/90degree_model_part_14.STL"/>
+    <mesh name="90degree_model_col_15" file="/home/lgx/Project/AFP/src/afp_mjc/env/90degree_model/meshes/parts/90degree_model_part_15.STL"/>
+    <mesh name="90degree_model_col_16" file="/home/lgx/Project/AFP/src/afp_mjc/env/90degree_model/meshes/parts/90degree_model_part_16.STL"/>
+    <mesh name="90degree_model_col_17" file="/home/lgx/Project/AFP/src/afp_mjc/env/90degree_model/meshes/parts/90degree_model_part_17.STL"/>
+    <mesh name="90degree_model_col_18" file="/home/lgx/Project/AFP/src/afp_mjc/env/90degree_model/meshes/parts/90degree_model_part_18.STL"/>
   </asset>
 
   <worldbody>
@@ -63,6 +67,21 @@
         <body name="col_13">
             <geom type="mesh" mesh="90degree_model_col_13" group="2"/>
         </body>
+        <body name="col_14">
+            <geom type="mesh" mesh="90degree_model_col_14" group="2"/>
+        </body>
+        <body name="col_15">
+            <geom type="mesh" mesh="90degree_model_col_15" group="2"/>
+        </body>
+        <body name="col_16">
+            <geom type="mesh" mesh="90degree_model_col_16" group="2"/>
+        </body>
+        <body name="col_17">
+            <geom type="mesh" mesh="90degree_model_col_17" group="2"/>
+        </body>
+        <body name="col_18">
+            <geom type="mesh" mesh="90degree_model_col_18" group="2"/>
+        </body>
     </body>
   </worldbody>
 </mujoco>
diff --git a/src/afp_mjc/env/AFPhead/meshes/base_link.STL b/src/afp_mjc/env/AFPhead/meshes/base_link.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/chongsong_link.STL b/src/afp_mjc/env/AFPhead/meshes/chongsong_link.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/fangjuan_link.STL b/src/afp_mjc/env/AFPhead/meshes/fangjuan_link.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_0.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_0.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_1.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_1.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_10.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_10.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_100.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_100.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_101.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_101.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_102.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_102.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_103.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_103.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_104.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_104.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_105.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_105.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_106.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_106.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_107.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_107.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_108.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_108.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_109.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_109.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_11.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_11.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_110.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_110.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_111.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_111.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_112.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_112.STL
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diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_5.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_5.STL
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diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_6.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_6.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_60.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_60.STL
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diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_63.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_63.STL
diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_64.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_64.STL
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diff --git a/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_8.STL b/src/afp_mjc/env/AFPhead/meshes/parts/AFPhead_part_8.STL
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Original file line number	Diff line number	Diff line change
		@@ -0,0 +1,2 @@
		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,-1.66558744151121E-17,-0.0104159414126801,0.0200047656957359,0,0,0,0.58117137694643,0.00187979355618849,2.92938722267831E-18,-8.66486024079702E-19,0.00235801610989525,0.000548852531474529,0.00339625329260278,0,0,0,0,0,0,package://120degree_model/meshes/base_link.STL,1,1,1,1,0,0,0,0,0,0,package://120degree_model/meshes/base_link.STL,,,坐标系1,,,,0,0,0,0,0,0,,0,0,0,,,,,,,,,,,,