TwoFootBot/bot/2foot/urdf/2foot.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	head_link	0.00637927718522201	8.36838553548436E-05	0.0502679117290854	0	0	0	0.104147639434427	0.000119888626287878	4.26649795023379E-08	-3.14056079328627E-06	9.2091610344693E-05	1.01375294153974E-07	3.18810914232645E-05	0	0	0	0	0	0	package://2foot/meshes/head_link.STL	1	1	1	1	0	0	0	0	0	0	package://2foot/meshes/head_link.STL		主体-2;bateria 9v-1;Step Up-1;3D_PCB1_2026-08-10.step-1/Board~RkW7.step-1;Freenove ESP32-S3-WROOM-CAM-1;3D_PCB1_2026-08-10.step-1/H15~HDR-TH_20P-P2.54-V-F~HDR-F-2.54_1x20~VMZC.step-1/HDR-TH_20P-P2.54-V-F~HDR-F-2.54_1x20~Z7qR.step-1;3D_PCB1_2026-08-10.step-1/H1~HDR-TH_20P-P2.54-V-M-1~HDR-M-2.54_1x20~UsHF.step-1/HDR-TH_20P-P2.54-V-M-1~HDR-M-2.54_1x20~m73r.step-1;3D_PCB1_2026-08-10.step-1/H8~HDR-TH_20P-P2.54-V-M-1~HDR-M-2.54_1x20~Shzr.step-1/HDR-TH_20P-P2.54-V-M-1~HDR-M-2.54_1x20~m73r.step-1;3D_PCB1_2026-08-10.step-1/H2~HDR-TH_20P-P2.54-V-M-1~HDR-M-2.54_1x20~Ckmi.step-1/HDR-TH_20P-P2.54-V-M-1~HDR-M-2.54_1x20~m73r.step-1;3D_PCB1_2026-08-10.step-1/H4~HDR-TH_20P-P2.54-V-M-1~HDR-M-2.54_1x20~7m2w.step-1/HDR-TH_20P-P2.54-V-M-1~HDR-M-2.54_1x20~m73r.step-1;3D_PCB1_2026-08-10.step-1/H6~HDR-TH_20P-P2.54-V-F~HDR-F-2.54_1x20~FFBa.step-1/HDR-TH_20P-P2.54-V-F~HDR-F-2.54_1x20~Z7qR.step-1;3D_PCB1_2026-08-10.step-1/H3~HDR-TH_20P-P2.54-V-M-1~HDR-M-2.54_1x20~2T1y.step-1/HDR-TH_20P-P2.54-V-M-1~HDR-M-2.54_1x20~m73r.step-1;3D_PCB1_2026-08-10.step-1/H5~HDR-TH_20P-P2.54-V-M-1~HDR-M-2.54_1x20~T7xH.step-1/HDR-TH_20P-P2.54-V-M-1~HDR-M-2.54_1x20~m73r.step-1;舵机总体-5/Servo-1;舵机总体-4/Servo-1	head				0	0	0	0	0	0		0	0	0
3	lf0_link	2.5034674019167E-06	-0.00399152370097755	-0.0136055723537577	0	0	0	0.0155246301341258	1.99164881392775E-06	-4.82887905395487E-10	-2.07253296776602E-10	2.02900387840545E-06	2.49004321417992E-07	1.54078395860252E-06	0	0	0	0	0	0	package://2foot/meshes/lf0_link.STL	1	1	1	1	0	0	0	0	0	0	package://2foot/meshes/lf0_link.STL		右腿胯骨-18;舵机总体-8/Servo-1	lf0	lf0_hige	jlf0_link	revolute	-0.0031441	0.025688	-0.006475	0	0	0	head_link	0	0	-1	0	0	0	0
4	lf1_link	2.91696425805399E-06	0.004390376864982	-0.0296712953157869	0	0	0	0.013323922418148	2.72143018103993E-06	4.82887905395412E-10	2.07253296776833E-10	2.92090153101514E-06	-3.25175555348237E-08	9.23918900070304E-07	0	0	0	0	0	0	package://2foot/meshes/lf1_link.STL	1	1	1	1	0	0	0	0	0	0	package://2foot/meshes/lf1_link.STL		右大腿-3;舵机总体-10/Servo-1	lf1	lf1_hige	jlf1_link	revolute	9.7027E-05	0.011975	-0.012388	0	0	0	lf0_link	0	-1	0	0	0	0	0
5	lf2_link	2.43737372657149E-06	0.00363613025354126	-0.0425732788173739	0	0	0	0.0159456077850123	5.35424510746978E-06	4.82887905395677E-10	2.07253296776739E-10	5.71315402728463E-06	-2.13454759600996E-08	1.09035404123551E-06	0	0	0	0	0	0	package://2foot/meshes/lf2_link.STL	1	1	1	1	0	0	0	0	0	0	package://2foot/meshes/lf2_link.STL		右小腿-2;舵机总体-12/Servo-1	lf2	lf2_hige	jlf2_link	revolute	9.7027E-05	-0.008475	-0.040938	0	0	0	lf1_link	0	1	0	0	0	0	0
6	lf3_link	-4.82253126321552E-16	-0.000451394188820231	-0.0198245674059442	0	0	0	0.0192906631601767	3.18209633375994E-06	3.34527248954873E-21	1.76056444695768E-21	6.55022061625284E-06	2.53604908486043E-07	7.24649308736933E-06	0	0	0	0	0	0	package://2foot/meshes/lf3_link.STL	1	1	1	1	0	0	0	0	0	0	package://2foot/meshes/lf3_link.STL		玉足-4	lf3	lf3_hige	jlf3_link	revolute	9.7027E-05	-0.006475	-0.060937	0	0	0	lf2_link	0	-1	0	0	0	0	0
7	rf0_link	-2.50346740203813E-06	0.00399152370097733	-0.0136055723537577	0	0	0	0.0155246301341258	1.99164881392775E-06	-4.82887905395413E-10	2.07253296776268E-10	2.02900387840545E-06	-2.49004321417992E-07	1.54078395860252E-06	0	0	0	0	0	0	package://2foot/meshes/rf0_link.STL	1	1	1	1	0	0	0	0	0	0	package://2foot/meshes/rf0_link.STL		右腿胯骨-16;舵机总体-9/Servo-1	rf0	rf0_hige	jrf0_link	revolute	-0.0033382	-0.025687	-0.006475	0	0	0	head_link	0	0	-1	0	0	0	0
8	rf1_link	-2.91696425855359E-06	-0.00439037686498245	-0.0296712953157865	0	0	0	0.0133239224181479	2.72143018103992E-06	4.82887905395081E-10	-2.07253296776895E-10	2.92090153101514E-06	3.25175555348265E-08	9.23918900070297E-07	0	0	0	0	0	0	package://2foot/meshes/rf1_link.STL	1	1	1	1	0	0	0	0	0	0	package://2foot/meshes/rf1_link.STL		右大腿-2;舵机总体-11/Servo-1	rf1	rf1_hige	jrf1_link	revolute	-9.7027E-05	-0.011975	-0.012388	0	0	0	rf0_link	0	1	0	0	0	0	0
9	rf2_link	-2.43737372681782E-06	-0.00363613025354104	-0.0425732788173739	0	0	0	0.0159456077850122	5.35424510746977E-06	4.82887905394926E-10	-2.0725329677683E-10	5.71315402728462E-06	2.13454759600991E-08	1.0903540412355E-06	0	0	0	0	0	0	package://2foot/meshes/rf2_link.STL	1	1	1	1	0	0	0	0	0	0	package://2foot/meshes/rf2_link.STL		右小腿-1;舵机总体-13/Servo-1	rf2	lf2_hige	jrf2_link	revolute	-9.7027E-05	0.008475	-0.040937	0	0	0	rf1_link	0	1	0	0	0	0	0
10	rf3_link	8.18789480661053E-16	0.000451394188820897	-0.0198245674059443	0	0	0	0.0192906631601768	3.18209633375994E-06	8.58350838304875E-21	2.39867798130625E-21	6.55022061625285E-06	-2.53604908486041E-07	7.24649308736931E-06	0	0	0	0	0	0	package://2foot/meshes/rf3_link.STL	1	1	1	1	0	0	0	0	0	0	package://2foot/meshes/rf3_link.STL		玉足-3	rf3	rf3_hige	jrf3_link	revolute	-9.7027E-05	0.006475	-0.060938	0	0	0	rf2_link	0	1	0	0	0	0	0