Merge branch 'issue-12-trunk' into develop, #12

roboticslab-uc3m · Dec 12, 2018 · 89d6e27 · 89d6e27
2 parents 8ced4c9 + 6a4b973
commit 89d6e27
Showing 1 changed file with 12 additions and 0 deletions.
diff --git a/share/kinematics/trunkAndLeftArmKinematics.ini b/share/kinematics/trunkAndLeftArmKinematics.ini
@@ -0,0 +1,12 @@
+/// trunkAndLeftArmKinematics.ini
+
+numLinks 8
+
+link_0 (offset  0.0) (D 0.1932  ) (A  0.0   ) (alpha -90.0)
+link_1 (offset 90.0) (D 0.34692 ) (A -0.305 ) (alpha   0.0)
+link_2 (offset  0.0) (D 0.0    ) (A 0.0     ) (alpha  90.0) (mass 0       ) (cog 0 0 0) (inertia 0 0 0)
+link_3 (offset 90.0) (D 0.0    ) (A 0.0     ) (alpha  90.0) (mass 0       ) (cog 0 0 0) (inertia 0 0 0)
+link_4 (offset 90.0) (D 0.32901) (A 0.0     ) (alpha  90.0) (mass 1.750625) (cog 0 0 0) (inertia 0 0 0)
+link_5 (offset  0.0) (D 0.0    ) (A 0.0     ) (alpha -90.0) (mass 0       ) (cog 0 0 0) (inertia 0 0 0)
+link_6 (offset  0.0) (D 0.202  ) (A 0.0     ) (alpha  90.0) (mass 2.396   ) (cog 0 0 0) (inertia 0 0 0)
+link_7 (offset 90.0) (D 0.0    ) (A 0.187496) (alpha  90.0) (mass 0.300   ) (cog 0 0 0) (inertia 0 0 0)