ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | Q&A
Ask Your Question

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.

edit retag flag offensive close merge delete

1 Answer

Sort by ยป oldest newest most voted

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.

edit flag offensive delete link more


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

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools


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

Seen: 1,171 times

Last updated: Oct 05 '11