97 lines
1.7 KiB
YAML
97 lines
1.7 KiB
YAML
link0:
|
|
origin:
|
|
xyz: -0.0172 0.0004 0.0745
|
|
rpy: 0 0 0
|
|
mass: 2.3966
|
|
inertia:
|
|
xx: 0.0090
|
|
xy: 0.0000
|
|
xz: 0.0020
|
|
yy: 0.0115
|
|
yz: 0.0000
|
|
zz: 0.0085
|
|
link1:
|
|
origin:
|
|
xyz: 0.00033 -0.02204 -0.04762
|
|
rpy: 0 0 0
|
|
mass: 2.7907
|
|
inertia:
|
|
xx: 0.01564782655
|
|
xy: 0.00000531236
|
|
xz: -0.00003676721
|
|
yy: 0.01439883526
|
|
yz: -0.00248480843
|
|
zz: 0.00500443991
|
|
link2:
|
|
origin:
|
|
xyz: 0.00038 -0.09211 0.01908
|
|
rpy: 0 0 0
|
|
mass: 2.5420
|
|
inertia:
|
|
xx: 0.01662427728
|
|
xy: 0.00003086077
|
|
xz: 0.00000835940
|
|
yy: 0.00462501261
|
|
yz: 0.00355899830
|
|
zz: 0.01545124526
|
|
link3:
|
|
origin:
|
|
xyz: 0.05152 0.01696 -0.02971
|
|
rpy: 0 0 0
|
|
mass: 2.2513
|
|
inertia:
|
|
xx: 0.00631741992
|
|
xy: 0.00097309955
|
|
xz: 0.00292525834
|
|
yy: 0.00866285493
|
|
yz: 0.00093469224
|
|
zz: 0.00657804051
|
|
link4:
|
|
origin:
|
|
xyz: -0.05113 0.05825 0.01698
|
|
rpy: 0 0 0
|
|
mass: 2.2037
|
|
inertia:
|
|
xx: 0.00784585566
|
|
xy: -0.00339591957
|
|
xz: 0.00158704074
|
|
yy: 0.00649543136
|
|
yz: -0.00181477884
|
|
zz: 0.01003079917
|
|
link5:
|
|
origin:
|
|
xyz: -0.00005 0.03730 -0.09280
|
|
rpy: 0 0 0
|
|
mass: 2.2855
|
|
inertia:
|
|
xx: 0.02297014781
|
|
xy: -0.00000949345
|
|
xz: -0.00002063156
|
|
yy: 0.02095060919
|
|
yz: 0.00382345782
|
|
zz: 0.00430606551
|
|
link6:
|
|
origin:
|
|
xyz: 0.06572 -0.00371 0.00153
|
|
rpy: 0 0 0
|
|
mass: 1.353
|
|
inertia:
|
|
xx: 0.00087964522
|
|
xy: -0.00021487814
|
|
xz: -0.00011911662
|
|
yy: 0.00277796968
|
|
yz: 0.00001274322
|
|
zz: 0.00286701969
|
|
link7:
|
|
origin:
|
|
xyz: 0.00089 -0.00044 0.05491
|
|
rpy: 0 0 0
|
|
mass: 0.35973
|
|
inertia:
|
|
xx: 0.00019541063
|
|
xy: 0.00000165231
|
|
xz: 0.00000148826
|
|
yy: 0.00019210361
|
|
yz: -0.00000131132
|
|
zz: 0.00017936256
|