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<!-- moments of inertia --> |
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<!-- Current Inertia values approximated by cuboid, not real CAD values, |
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real robot trunk dimensions 72x34x14cm XYZ, |
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here used inertia values fo cuboid 50x34x14 of uniform density to betterapproximate real weight distribution--> |
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<xacro:property name="trunk_ixx" value="112667000.0"/> <!-- g*mm^2--> |
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<xacro:property name="trunk_ixy" value="0"/> <!-- g*mm^2--> |
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<xacro:property name="trunk_ixz" value="00"/> <!-- g*mm^2--> |
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<xacro:property name="trunk_iyy" value="224667000.0"/> <!-- g*mm^2--> |
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<xacro:property name="trunk_iyz" value="0"/> <!-- g*mm^2--> |
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<xacro:property name="trunk_izz" value="304667000.0"/> <!-- g*mm^2--> |
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Current Inertia values approximated by cuboid, not real CAD values, real robot trunk dimensions are 72x34x14cm XYZ, but in code I used inertia values of cuboid 50x34x14 of uniform density to better approximate real weight distribution.
LRT_meldog_ros/meldog_description/description/links/properties/T_properties.urdf.xacro
Lines 18 to 30 in e6cf518
Current Inertia values approximated by cuboid, not real CAD values, real robot trunk dimensions are 72x34x14cm XYZ, but in code I used inertia values of cuboid 50x34x14 of uniform density to better approximate real weight distribution.