![]() This element specifies the shape of the object (box, cylinder, etc.) for visualization purposes. ![]() The simplest way to avoid compatibility issues associated with the negative sign convention for product of inertia is to align Ĉx, Ĉy, Ĉz with principal inertia directions so that all the products of inertia are zero. URDF assumes a negative product of inertia convention (for more info, see these MathWorks docs for working with CAD tools). The attributes ixx, ixy, ixz, iyy, iyz, izz for some primitive shapes are here. Note: the orientation of Ĉx, Ĉy, Ĉz relative to L̂x, L̂y, L̂z is specified by the rpy values in the tag. This link's moments of inertia ixx, iyy, izz and products of inertia ixy, ixz, iyz about Co (the link’s center of mass) for the unit vectors Ĉx, Ĉy, Ĉz fixed in the center-of-mass frame C. The mass of the link is represented by the value attribute of this element Note: Ĉx, Ĉy, Ĉz do not need to be aligned with the link’s principal axes of inertia. Represents the orientation of C's unit vectors Ĉx, Ĉy, Ĉz relative to link-frame L as a sequence of Euler rotations (r p y) in radians. Rpy (optional: defaults to identity if not specified) Represents the position vector from Lo (the link-frame origin) to Co (the link’s center of mass) as x L̂x + y L̂y + z L̂z, where L̂x, L̂y, L̂z are link-frame L's orthogonal unit vectors.
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