Automatically Compute Moments of Inertia for SDFormat Links
- Mentors
- Addisu Taddese, Dharini Dutia
- Organization
- Open Robotics
- Technologies
- c, gazebo, c++, Simulation
- Topics
- robotics, simulation, physics
Physically plausible inertial parameters like the mass, center of mass, moments of inertia etc.
are required for an accurate simulation. Since parameters like moments of inertia are difficult
to visualize, a user may tend to enter wrong values leading to incorrect simulation.
Therefore, having the calculation of moments of inertia integrated into Gazebo itself would make the workflow much more smooth.
The plan is to use existing mesh processing libraries to automatically calculate moments of inertia from link collision meshes and introduce an attribute to SDFormat for the tag that enables the feature.