initial forking commit

robots/fer/inertials.yaml

@@ -0,0 +1,96 @@
+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