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For your first pass, I wouldn't worry terribly about getting the moment of inertia numbers correct. You can add in masses (remember to convert to kg), and have some approximate value and it should be ok.

For URDF, the MOI matrix needs to be taken at the center of mass of the link aligned with the link's coordinate system. For most links, the link origin is the same as the joint origin that connects this link to its parent. For the base link, it's the standard ros/gazebo coordinate system.

To take the MOI numbers from the screen grab, you will need to know the coordinate system that they were taken in reference too. For example, if the output coordinate system was just the full assembly origin coordinate system, then you would transform the MOI matrix from that origin to the link's origin.

Is that clear as mud?