gstavrinos / calc-inertia Goto Github PK

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.

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.