Jerry
214 lines
6.8 KiB
Python
214 lines
6.8 KiB
Python
"""Baked CAD mass properties and bounding boxes for juno links.
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Generated from the juno_parts builders with OCP BRepGProp volume
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properties at unit density in each part's local frame (== URDF link
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frame); MatrixOfInertia is reported about the center of mass. Units:
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mm^3 volume, mm COM/bbox, mm^5 unit-density inertia. Regenerate with a
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one-off BRepGProp pass over the builders if part geometry changes.
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"""
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from __future__ import annotations
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TOTAL_VOLUME_MM3 = 21995764.7
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# link: (volume_mm3, com_mm, inertia_com_mm5 (ixx, iyy, izz, ixy, ixz, iyz),
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# bbox_min_mm, bbox_max_mm)
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LINK_MASS_PROPS = {
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"pelvis": (
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1851739.1,
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(0.530, 0.000, -60.660),
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(10575555495.5, 2986416959.4, 9648461832.1, -0.0, 27571603.0, 0.0),
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(-55.695, -132.500, -120.000),
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(55.695, 132.500, 2.000),
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),
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"torso": (
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6108265.6,
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(7.794, 0.000, 191.529),
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(62794957817.2, 52289642329.9, 24408631078.9, -4456.8, -624909761.4, 2396.0),
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(-60.697, -132.000, 2.000),
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(78.799, 132.000, 330.000),
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),
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"neck_collar": (
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97687.2,
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(0.000, 0.078, 31.736),
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(45359820.3, 40671978.2, 25110818.2, -0.0, -0.0, -108895.8),
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(-22.000, -24.500, -0.000),
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(22.000, 24.500, 66.000),
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),
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"head": (
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1430411.4,
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(5.892, 0.000, 78.745),
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(3007509481.7, 2878444626.8, 2616214902.5, 400.8, 75520856.9, -277.3),
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(-55.025, -68.600, 12.000),
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(69.718, 68.600, 149.500),
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),
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"hip_bracket_left": (
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238176.4,
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(-0.000, -0.000, -35.975),
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(202101382.9, 336364547.2, 246804392.9, 0.0, 0.0, -0.0),
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(-50.000, -35.000, -92.000),
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(50.000, 35.000, 2.000),
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),
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"hip_bracket_right": (
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238176.4,
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(-0.000, -0.000, -35.975),
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(202101382.9, 336364547.2, 246804392.9, 0.0, 0.0, -0.0),
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(-50.000, -35.000, -92.000),
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(50.000, 35.000, 2.000),
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),
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"hip_carrier_left": (
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264972.6,
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(0.000, -17.245, -13.249),
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(379036437.7, 330576905.5, 231821029.9, -0.0, -0.0, -89888016.9),
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(-38.000, -48.000, -110.000),
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(38.000, 30.000, 30.000),
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),
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"hip_carrier_right": (
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264972.6,
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(-0.000, 17.245, -13.249),
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(379036437.7, 330576905.5, 231821029.9, 0.0, -0.0, 89888016.9),
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(-38.000, -30.000, -110.000),
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(38.000, 48.000, 30.000),
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),
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"thigh_left": (
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2199611.8,
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(5.738, 1.309, -111.338),
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(18083649732.5, 18275231745.6, 2772515196.8, -32733791.4, 192056640.6, 56844098.9),
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(-55.000, -49.800, -324.000),
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(61.645, 49.800, 55.000),
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),
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"thigh_right": (
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2199611.8,
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(5.738, -1.309, -111.338),
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(18083649732.5, 18275231745.6, 2772515196.8, 32733791.4, 192056640.6, -56844098.9),
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(-55.000, -49.800, -324.000),
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(61.645, 49.800, 55.000),
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),
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"shin_left": (
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1538517.5,
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(-0.561, 0.061, -96.071),
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(11871561616.6, 12163653962.6, 1389886188.1, -52840.1, 50385797.6, -9043310.6),
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(-53.000, -36.030, -317.000),
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(53.000, 36.030, 53.000),
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),
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"shin_right": (
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1538517.5,
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(-0.561, -0.061, -96.071),
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(11871561616.6, 12163653962.6, 1389886188.1, 52840.1, 50385797.6, 9043310.6),
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(-53.000, -36.030, -317.000),
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(53.000, 36.030, 53.000),
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),
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"ankle_link_left": (
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137561.9,
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(-0.000, -0.000, -9.368),
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(74241221.1, 74983355.2, 43104451.9, -0.0, 0.0, 0.0),
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(-27.000, -23.000, -52.000),
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(27.000, 23.000, 27.000),
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),
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"ankle_link_right": (
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137561.9,
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(-0.000, -0.000, -9.368),
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(74241221.1, 74983355.2, 43104451.9, -0.0, 0.0, 0.0),
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(-27.000, -23.000, -52.000),
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(27.000, 23.000, 27.000),
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),
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"foot_left": (
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283123.4,
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(16.160, 0.000, -9.901),
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(123113764.4, 739379797.2, 802702130.6, 10.2, 20480873.7, -7.0),
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(-68.000, -35.000, -26.000),
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(112.000, 35.000, 17.000),
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),
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"foot_right": (
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283123.4,
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(16.160, -0.000, -9.901),
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(123113764.4, 739379797.2, 802702130.6, -10.2, 20480873.7, 7.0),
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(-68.000, -35.000, -26.000),
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(112.000, 35.000, 17.000),
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),
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"shoulder_pod_left": (
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425574.2,
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(-0.000, 28.050, -19.091),
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(714790487.6, 751008417.9, 407973611.1, 0.0, -0.0, 89264397.4),
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(-46.000, -15.000, -100.000),
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(46.000, 62.000, 40.000),
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),
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"shoulder_pod_right": (
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425574.2,
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(-0.000, -27.809, -19.091),
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(717642321.8, 751008417.9, 410825445.2, -0.0, -0.0, -91218689.8),
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(-46.000, -62.000, -100.000),
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(46.000, 17.000, 40.000),
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),
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"yaw_housing_left": (
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221220.3,
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(0.212, 0.000, -1.141),
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(129954916.4, 122383446.3, 119370777.6, 0.0, -53460.7, -0.0),
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(-28.000, -35.000, -35.000),
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(30.000, 35.000, 35.000),
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),
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"yaw_housing_right": (
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221220.3,
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(0.212, 0.000, -1.141),
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(129954916.4, 122383446.3, 119370777.6, 0.0, -53460.7, -0.0),
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(-28.000, -35.000, -35.000),
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(30.000, 35.000, 35.000),
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),
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"bicep_left": (
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301963.4,
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(0.000, -0.000, -71.359),
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(744624663.9, 710292803.0, 140767841.6, 0.1, -4.1, 0.6),
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(-28.000, -38.000, -181.000),
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(28.000, 38.000, 0.000),
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),
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"bicep_right": (
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301963.4,
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(0.000, -0.000, -71.359),
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(744624663.9, 710292803.0, 140767841.6, 0.1, -4.1, 0.6),
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(-28.000, -38.000, -181.000),
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(28.000, 38.000, 0.000),
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),
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"forearm_left": (
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283988.8,
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(0.000, 0.117, -40.459),
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(762882647.6, 775052016.1, 91527058.5, -74.9, 2642.2, -1346194.6),
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(-31.000, -25.000, -150.000),
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(31.000, 27.000, 31.000),
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),
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"forearm_right": (
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283988.6,
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(0.000, -0.117, -40.459),
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(762882302.6, 775051637.8, 91527008.7, 74.2, 2640.4, 1346197.1),
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(-31.000, -27.000, -150.000),
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(31.000, 25.000, 31.000),
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),
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"wrist_carrier_left": (
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80906.3,
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(-0.000, 0.190, -24.780),
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(25554672.8, 26183303.0, 21412679.7, -0.0, -0.0, 49549.1),
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(-24.000, -22.000, -52.000),
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(24.000, 22.000, 0.000),
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),
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"wrist_carrier_right": (
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80906.3,
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(-0.000, 0.190, -24.780),
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(25554672.8, 26183303.0, 21412679.7, -0.0, -0.0, 49549.1),
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(-24.000, -22.000, -52.000),
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(24.000, 22.000, 0.000),
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),
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"hand_left": (
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278214.4,
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(4.151, -1.046, -70.129),
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(533619427.8, 571570852.8, 168975930.2, 1937556.6, 3113956.1, -26275069.1),
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(-35.750, -33.485, -167.575),
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(61.183, 33.200, 24.000),
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),
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"hand_right": (
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278214.4,
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(4.151, 1.046, -70.129),
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(533619427.8, 571570852.8, 168975930.2, -1937556.6, 3113956.1, 26275069.1),
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(-35.750, -33.200, -167.575),
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(61.183, 33.485, 24.000),
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),
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}
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