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inertial settings not working

asked 2017-05-30 02:46:54 -0500

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My world file my_task.world is:

<?xml version="1.0"?>
<sdf version="1.4">
<world name="default">
<include>
  <uri>model://ground_plane</uri>
</include>
<include>
  <uri>model://sun</uri>
</include>
<model name="my_mesh">
  <pose>0.2 0 0  0 0 0</pose>
  <static>true</static>
  <link name="pad_body">
    <inertial>
      <pose>0.315 0 0.0885 0 0 0</pose>
      <mass>100.0</mass>
      <inertia>
        <ixx>1.0</ixx>
        <ixy>0.0</ixy>
        <ixz>0.0</ixz>
        <iyy>1.0</iyy>
        <iyz>0.0</iyz>
        <izz>1.0</izz>
      </inertia>
    </inertial>
    <collision name="collision">
        <geometry>
            <mesh>
                <uri>model://visual/taskpad.dae</uri>
            </mesh>
        </geometry>
    </collision>
    <visual name="visual">
      <geometry>
        <mesh>
        <uri>model://visual/taskpad.dae</uri>
        </mesh>
      </geometry>
    </visual>
  </link>
</model>
</world>
</sdf>

But the inertial settings not working, after run the following command,

$ gazebo  my_task.world

gazebo always show its mass and moment of inertial as gazebo default values.

Any help will be appreciated!

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answered 2017-05-30 10:15:52 -0500

chapulina gravatar image

What's happening is that you're creating a static model (<static>true</static>), which means the model's inertia will be ignored and it won't be affected by physics.

But I can see how displaying the default values can be confusing. I opened an issue about this.

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Asked: 2017-05-30 02:46:54 -0500

Seen: 401 times

Last updated: May 30 '17