openarm_description/config/arm/v10/inertials.yaml
Sutou Kouhei 7faabd0dbe Import
2025-07-22 16:09:24 +09:00

136 lines
2.2 KiB
YAML

link0:
origin:
x: -0.0009483362816297526
y: 0.0001580207020448382
z: 0.03076860287587199
roll: 0.0
pitch: 0.0
yaw: 0.0
mass: 1.1432284943239561
inertia:
xx: 0.001128
xy: -4.0e-06
xz: -3.3e-05
yy: 0.000962
yz: -7.0e-06
zz: 0.00147
link1:
origin:
x: 0.0011467657911800769
y: 3.319987657026362e-05
z: 0.05395284380736254
roll: 0.0
pitch: 0.0
yaw: 0.0
mass: 1.1416684646202298
inertia:
xx: 0.001567
xy: -1.0e-06
xz: -2.9e-05
yy: 0.001273
yz: 1e-06
zz: 0.001016
link2:
origin:
x: 0.00839629182351943
y: -2.0145102027597523e-08
z: 0.03256649300522363
roll: 0.0
pitch: 0.0
yaw: 0.0
mass: 0.2775092746011571
inertia:
xx: 0.000359
xy: 1e-06
xz: -0.000109
yy: 0.000376
yz: 1e-06
zz: 0.000232
link3:
origin:
x: -0.002104752099628911
y: 0.0005549085042607548
z: 0.08847470545721961
roll: 0.0
pitch: 0.0
yaw: 0.0
mass: 1.073863338202347
inertia:
xx: 0.004372
xy: 1e-06
xz: 1.1e-05
yy: 0.004319
yz: -3.6e-05
zz: 0.000661
link4:
origin:
x: -0.0029006831074562967
y: -0.03030575826634669
z: 0.06339637422196209
roll: 0.0
pitch: 0.0
yaw: 0.0
mass: 0.5598534566833373
inertia:
xx: 0.000623
xy: -1.0e-06
xz: -1.9e-05
yy: 0.000511
yz: 3.8e-05
zz: 0.000334
link5:
origin:
x: -0.003049665024221911
y: 0.0008866902457326625
z: 0.043079803024980934
roll: 0.0
pitch: 0.0
yaw: 0.0
mass: 0.5506588026168502
inertia:
xx: 0.000423
xy: -8.0e-06
xz: 6.0e-06
yy: 0.000445
yz: -6.0e-06
zz: 0.000324
link6:
origin:
x: -0.037136587005447405
y: 0.00033230528343419053
z: -9.498374522309838e-05
roll: 0.0
pitch: 0.0
yaw: 0.0
mass: 0.385202773187987
inertia:
xx: 0.000143
xy: 1e-06
xz: 1e-06
yy: 0.000157
yz: 1e-06
zz: 0.000159
link7:
origin:
x: 6.875510271106056e-05
y: 0.01266175250761268
z: 0.06951945409987448
roll: 0.0
pitch: 0.0
yaw: 0.0
mass: 0.3859771327380578
inertia:
xx: 0.000639
xy: 1e-06
xz: 1e-06
yy: 0.000497
yz: 8.9e-05
zz: 0.000342