#General object information
attr:
class: "ROBOT"
model: "Soft Pad end-effector"
note: "Soft rubber material attached to 3D printed flange to connect to the robot."
innerMaterial: "PLA"
outerMaterial: "Silicon, DragonSkin 10. Density of 1.07 g/cm^3 and Young's modulus of 1.2MPa."
mass:
ds: 0.210
attr:
note: "Mass in kg"
offset:
ds:
- [0, -1, 0, 0]
- [1, 0, 0, -0.025]
- [0, 0, 1, 0]
- [0, 0, 0, 1]
attr:
note: "Transformation of the previous joint to the next empty joint"
inertia_tensor:
attr:
note: "Inertia tensor in kg*m^2"
ds:
- [2.1E-4, 0, 0]
- [0, 2.1E-4, 0]
- [0, 0, 4.0E-4]
