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What is the origin of the inertia tensor in URDF

asked 2011-10-04 09:14:54 -0500

twong gravatar image

The URDF specifications for a link require that the origin of the inertial frame must be located at the center of gravity of the link. (urdf/XML/link)

What is the origin of the 3x3 rotational inertia matrix? Is it

  1. the origin of the inertia frame, which is also the center of gravity, OR

  2. the origin of the link reference frame.

The inertia matrix will be different depending on whether it is calculated with respect to 1 or 2.

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answered 2011-10-05 04:39:50 -0500

David Lu gravatar image

I imagine that its (1) but I'm unfamiliar with the actual implementation to back that up.

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Yes, it is indeed (1): the inertia matrix is specified in the inertia frame. I updated the wiki documentation.
Wim gravatar image Wim  ( 2011-11-03 08:26:30 -0500 )edit

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Asked: 2011-10-04 09:14:54 -0500

Seen: 800 times

Last updated: Oct 05 '11