Jerry
137 lines
4.0 KiB
Python
137 lines
4.0 KiB
Python
"""Baked CAD mass properties and bounding boxes for lyra links.
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Generated from the lyra_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 = 183433.2
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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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"palm": (
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123973.6,
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(0.993, -0.096, 53.213),
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(98442492.1, 132133998.1, 45650708.9, -180950.0, -4422274.8, 267642.8),
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(-37.800, -23.000, 0.000),
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(42.200, 23.000, 111.240),
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),
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"index_proximal": (
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6607.3,
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(0.000, 0.620, 20.936),
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(1583385.9, 1622711.3, 195769.4, -0.0, -0.0, 2966.7),
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(-9.200, -7.200, -7.200),
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(9.200, 7.700, 50.500),
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),
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"index_middle": (
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3115.9,
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(-0.000, 0.306, 12.322),
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(358262.5, 380099.2, 79965.1, -0.0, -0.0, 1146.0),
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(-8.400, -6.400, -6.400),
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(8.400, 7.200, 31.800),
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),
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"index_distal": (
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1761.6,
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(-0.000, 0.268, 8.476),
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(110817.2, 107993.2, 21753.1, 0.0, 0.0, -2040.6),
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(-5.300, -5.600, -5.600),
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(5.300, 5.700, 23.000),
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),
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"middle_proximal": (
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7645.0,
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(0.000, 0.662, 22.857),
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(2101192.9, 2147398.6, 238274.3, 0.0, 0.0, 3717.1),
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(-9.422, -7.416, -7.416),
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(9.422, 7.892, 54.695),
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),
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"middle_middle": (
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3697.0,
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(-0.000, 0.371, 13.725),
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(489757.6, 515013.3, 99289.4, -0.0, 0.0, 1847.4),
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(-8.598, -6.592, -6.592),
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(8.598, 7.377, 34.974),
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),
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"middle_distal": (
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1989.4,
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(-0.000, 0.281, 9.129),
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(139234.0, 135954.3, 26039.1, -0.0, -0.0, -2463.6),
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(-5.459, -5.768, -5.768),
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(5.459, 5.871, 24.500),
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),
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"ring_proximal": (
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6221.7,
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(0.000, 0.624, 20.993),
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(1463887.2, 1497956.0, 173277.2, 0.0, 0.0, 2780.8),
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(-8.978, -6.984, -6.984),
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(8.978, 7.508, 50.305),
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),
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"ring_middle": (
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3059.6,
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(-0.000, 0.350, 12.820),
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(355245.3, 374190.6, 73452.1, -0.0, 0.0, 1337.2),
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(-8.202, -6.208, -6.208),
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(8.202, 7.023, 32.626),
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),
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"ring_distal": (
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1689.9,
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(0.000, 0.265, 8.812),
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(107760.6, 105339.2, 19599.9, 0.0, 0.0, -1880.2),
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(-5.141, -5.432, -5.432),
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(5.141, 5.529, 23.500),
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),
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"pinky_proximal": (
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4097.4,
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(0.000, 0.519, 16.725),
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(666458.6, 687445.5, 96382.6, -0.0, 0.0, 1444.0),
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(-8.312, -6.336, -6.336),
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(8.312, 6.932, 40.720),
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),
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"pinky_middle": (
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1978.8,
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(0.000, 0.233, 10.001),
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(160299.1, 172443.0, 40658.8, 0.0, -0.0, 412.6),
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(-7.608, -5.632, -5.632),
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(7.608, 6.492, 26.104),
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),
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"pinky_distal": (
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1211.2,
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(0.000, 0.233, 7.600),
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(60213.8, 58744.3, 11570.5, -0.0, 0.0, -1111.7),
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(-4.664, -4.928, -4.928),
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(4.664, 5.016, 20.500),
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),
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"thumb_base": (
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3735.7,
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(5.759, 0.000, 0.024),
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(133267.4, 225133.8, 298293.0, -0.0, 80.7, 0.0),
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(-8.800, -9.600, -7.000),
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(20.000, 9.600, 7.000),
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),
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"thumb_metacarpal": (
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7046.8,
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(22.244, -0.000, 0.572),
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(214637.6, 1669731.3, 1691338.0, -0.0, 4697.0, -0.0),
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(-6.800, -9.200, -6.800),
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(52.400, 9.200, 8.300),
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),
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"thumb_proximal": (
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3711.2,
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(14.338, -0.000, 0.347),
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(97250.4, 480703.7, 500682.0, -0.0, 1249.7, -0.0),
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(-6.200, -8.500, -6.200),
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(35.600, 8.500, 7.600),
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),
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"thumb_distal": (
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1891.1,
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(9.782, 0.000, 0.294),
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(23945.1, 120446.4, 118749.4, 0.0, -2004.1, 0.0),
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(-5.200, -5.400, -5.200),
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(24.000, 5.400, 5.800),
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),
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}
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