initial forking commit

2025-02-22 22:37:34 +09:00
commit ee5f8b145e
106 changed files with 13922 additions and 0 deletions
--- a/end_effectors/franka_hand/inertials.yaml
+++ b/end_effectors/franka_hand/inertials.yaml
@@ -0,0 +1,26 @@
+hand:
+  origin:
+    xyz: -0.01 0 0.03
+    rpy: 0 0 0
+  mass: 0.73
+  inertia:
+    xx: 0.001
+    yy: 0.0025
+    zz: 0.0017
+    xy: 0
+    xz: 0
+    yz: 0
+
+leftfinger: &finger
+  origin:
+    xyz: 0 0 0
+    rpy: 0 0 0
+  mass: 0.015
+  inertia:
+    xx: 2.3749999999999997e-06
+    yy: 2.3749999999999997e-06
+    zz: 7.5e-07
+    xy: 0
+    xz: 0
+    yz: 0
+rightfinger: *finger