gstavrinos / calc-inertia Goto Github PK
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License: The Unlicense
Based on a provided URDF (or xacro), it reads all geometries that have a mass inertial tag, and prints a URDF-ready inertia matrix.
License: The Unlicense
I find it very frustrating that this fact is not clearly stated in the readme.
Why i think this is the case:
I used blender to generate a sphere and checked my results against standard formulas
( I_sphere = 0.4 * m * r^2; I_sphericalshell = 0.666 * m * r^2)
My results match very closely to theoretical spherical shells.
It appears that the generated inertia values for meshes are 100x larger than the "expected" inertia values in gazebo (inertia should be a bounding box that includes the mesh) . I need to investigate this. For now, I just manually multiply my inertia matrices with 0.01.
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