What (and where) are the constraints that are checked when loading a model to decide if a link's inertia matrix is valid or not?
In my specific example, I am trying to model a 50 kg cylinder that is 1.5 m long with a 0.2 m radius. According to this online moment of inertia calculator, I come up with Ixx=10, Iyy=10, Izz=1, which loads and runs fine. However, when I slightly change Ixx and Iyy to model a somewhat squashed (elliptical) cylinder, I receive the following error.
[Err] [Server.cc:183] Error Code 18: Msg: A link named hull has invalid inertia.
The snipped from my .sdf file is below.
<inertial>
<mass>50.24</mass>
<inertia>
<ixx>12.0</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>8.0</iyy>
<iyz>0</iyz>
<izz>1.0</izz>
</inertia>
</inertial>
