puzzles about link inertia in urdf exported by sw2urdf
Hello, I have a six_dof arm 3D model and have exported urdf by using sw2urdf. The link mass and inertia are auto-generated by the sw2urdf plugin. But now I find that all link's mass and inertia are same in urdf file, so I want to fill these values manually. I can see every link's mass and inertia in solidworks but I don't know the urdf ixx value should fill with Ixx value or Lxx value that show in solidworks? The following pictures show one link inertia in the urdf that was auto-generated by sw2urdf and inertia value calculated by solidworks, the problem is the ixx value in urdf was equal to Lxx value in solidworks but no t equal to Ixx value in solidworks, so should I also fill the Lxx value to ixx? Thank you for help!
Asked by yin on 2016-10-19 21:57:52 UTC
Answers
i'm little confused of the question, but it should be noted that gazebo/urdf and sw2urdf plugin shows the values in mks system, its looks like u'r using millimeter, gram system as a result the mass property and inertial values arei in grams, millimeters units.
Asked by dinesh on 2018-05-17 09:29:13 UTC
Comments
Not an answer, but I've referred ppl to SolidWorks to Gazebo Robot Simulation on the SolidWorks blog in the past.
Asked by gvdhoorn on 2016-10-20 05:11:47 UTC
Ok,thank you!
Asked by yin on 2016-10-20 06:00:04 UTC