initial forking commit

2025-02-22 22:37:34 +09:00
commit ee5f8b145e
106 changed files with 13922 additions and 0 deletions
--- a/robots/fr3/dynamics.yaml
+++ b/robots/fr3/dynamics.yaml
@@ -0,0 +1,62 @@
+joint1:
+  dynamic:
+    D: 1  
+    K: 7000 
+    damping: 0.003
+    friction: 0.2
+    mu_coulomb: 0
+    mu_viscous: 16
+
+joint2:
+  dynamic:
+    D: 1  
+    K: 7000 
+    damping: 0.003
+    friction: 0.2
+    mu_coulomb: 0
+    mu_viscous: 16
+
+joint3:
+  dynamic:
+    D: 1  
+    K: 7000 
+    damping: 0.003
+    friction: 0.2
+    mu_coulomb: 0
+    mu_viscous: 16
+
+joint4:
+  dynamic:
+    D: 1  
+    K: 7000 
+    damping: 0.003
+    friction: 0.2
+    mu_coulomb: 0
+    mu_viscous: 16
+
+joint5:
+  dynamic:
+    D: 1  
+    K: 7000 
+    damping: 0.003
+    friction: 0.2
+    mu_coulomb: 0
+    mu_viscous: 16
+
+joint6:
+  dynamic:
+    D: 1  
+    K: 7000 
+    damping: 0.003
+    friction: 0.2
+    mu_coulomb: 0
+    mu_viscous: 16
+
+joint7:
+  dynamic:
+    D: 1  
+    K: 7000 
+    damping: 0.003
+    friction: 0.2
+    mu_coulomb: 0
+    mu_viscous: 16