Ask Your Question
0

Definition of the inertia tensor

asked 2019-11-20 03:54:23 -0500

felixcra gravatar image

Consider the following two definitions of the Inertia tensor

Definition 1: image description

Definition 2: image description

Which of these two definitions, if any, does apply for the URDF specification for the link element here: http://wiki.ros.org/urdf/XML/link

edit retag flag offensive close merge delete

Comments

Definition 1 is most commonly used one, but, I'm very much interested for the ros-experts to leave here an answer.

pmuthu2s gravatar image pmuthu2s  ( 2019-11-26 06:49:39 -0500 )edit

1 Answer

Sort by ยป oldest newest most voted
0

answered 2021-04-06 08:00:01 -0500

Silvio Traversaro gravatar image

As far as I know Definition 2 is the one used by most implementation of URDF parsers, even if indeed this is technically left unspecified in the URDF "specification". Unfortunately, there is no issue tracker for the URDF specification itself (see https://github.com/ros/urdfdom_header...), so no obvious place to debug this. Furthermore, note that even your definition are not completely unambiguous, as a definition for the meaning of the elements of the matrix and by the matrix itself should be provided to avoid confusion.

However, in my experience without a better reference the KDL URDF parser, one of the first libraries that uses this URDF tags, may be a good reference. There you can see that it seems that Definition 2 is used:

edit flag offensive delete link more

Your Answer

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

Add Answer

Question Tools

3 followers

Stats

Asked: 2019-11-20 03:54:23 -0500

Seen: 113 times

Last updated: Apr 06