Gazebo: Q&A Forum - RSS feedhttp://answers.gazebosim.org/questions/Open source question and answer forum for GazeboenCopyright Askbot, 2010-2011.Tue, 17 Sep 2013 17:04:04 -0500The inertia matrix explainedhttp://answers.gazebosim.org/question/4372/the-inertia-matrix-explained/Hello.
I'd like to find some documentation about the inertia matrix in Gazebo/ROS (this topic is located in between).
Here is the ROS wiki page:
http://wiki.ros.org/urdf/Tutorials/Adding%20Physical%20and%20Collision%20Properties%20to%20a%20URDF%20Model
Basically, what I do not understand, is that the inertia matrix could not be independent from the mass. How a discrepancy between a dummy inertia matrix and the real inertia matrix could impact the simulation?
Thanks in advance for any doc that could help me to understand this part of the robot models.Arn-OTue, 17 Sep 2013 17:04:04 -0500http://answers.gazebosim.org/question/4372/