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Inertia xacro
Pedro Alcantara edited this page Oct 10, 2020
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Xacro with the inertial matrix for basic shapes as a cylinder, box, and sphere. These xacros adds the <inertial> block of the link.
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Cylinder_intertia parameters: Inertial matrix for cylinder.
- m [float]: link mass in Kilograms (Kg);
- r [float]: cylinder radius in meters (m);
- l [float]: cylinder lenght (height) in meters;
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Box_intertia parameters: Inertial matrix for a box [rectangle].
- m [float]: link mass in Kg;
- x [float]: link dimension on the X-axis in m;
- y [float]: link dimension on the Y-axis in m;
- z [float]: link dimension on the Z-axis in m;
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Sphere_intertia parameters: Inertia matrix for sphere.
- m [float]: link mass in Kg;
- r [float]: sphere radius in m;
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Default_intertial parameters: Simple unity inertial matrix.
- m [float]: link mass in Kg;