Inertial parameters not taken into effect

asked 2015-07-03 12:42:49 -0500

IsaacS gravatar image

A .dae file (representing a pile of books) stands on the wrong side (I expect the long side to sit on the floor). The pink portion at the bottom is the center of mass Gazebo shows. image description

Indeed the CoM in the .dae file is skewed [according to Meshlab]](http://gazebosim.org/tutorials?tut=inertia&cat=build_robot).

Opened mesh books1.dae in 66 msec
All files opened in 1802 msec
Loading textures
Texture[ 0 ] = '../shelf_books.png' ( 1024 x 1024 ) -> ( 1024 x 1024 )
Mesh Bounding Box Size 0.290330 0.172450 0.120600
Mesh Bounding Box Diag 0.358573 
Mesh Volume is 0.005539
Mesh Surface is 0.647713
Thin shell barycenter 1.319048 0.488971 0.060420
Center of Mass is 1.318931 0.489051 0.060878
Inertia Tensor is :
| 0.000020 0.000000 -0.000000 |
| 0.000000 0.000045 0.000000 |
| -0.000000 0.000000 0.000052 |
Principal axes are :
| 0.999999 0.001423 -0.000027 |
| -0.001423 0.999999 0.000014 |
| 0.000027 -0.000014 1.000000 |
axis momenta are :
| 0.000020 0.000045 0.000052 |

Then I thought I can overwrite the CoM in the model's SDF as below, which takes no effect on Gazebo except for the mass (values are set at random here. I'm just trying to see if values in SDF are reflected), according to Gazebo's model view pane.

<model name="book1">
  <static>false</static>
  <link name="body">
    <inertial>
      <pose>0 0 0 0 0 0</pose>
      <mass>2</mass>
      <inertia>
        <ixx>0.004878</ixx>
        <ixy>-6.2341e-07</ixy>
        <ixz>-7.4538e-07</ixz>
        <iyy>0.00090164</iyy>
        <iyz>-0.00014394</iyz>
        <izz>0.0042946</izz>
      </inertia>
    </inertial>

Am I missing anything or doing wrong?

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Comments

just guess , maybe when you export dae file,the center of your model doesn't correspond to the origin of world coordinate.

Zheng yo chen gravatar imageZheng yo chen ( 2015-08-01 08:44:53 -0500 )edit