<inertial> element

Elements

• <mass>

  • Mass

    Attributes:

    • value (required)

      • mass value

  <origin>

  • Link center of mass. The xyz offset is defined in the link local reference frame

    Attributes:

    • xyz (required)

      • Position offset of the center of mass of the link with respect to the link origin in the link local reference frame

      rpy (required)

      • Roll, pitch and yaw orientation offsets of the inertial frame in local link frame. All angles are always in radians.

  <inertia>

  • Moment of inertia

    Attributes:

    • ixx, iyy, izz, ixy, iyz, ixz (required)

      • Components of the inertia matrix for the link. The inertia parameters are specified with respect to the center of the mass in local link coordinate system.

Example

This is an example definition for a sphere with center of mass at the geometric center and moment of inertia about each of the principal axis at center of mass:

   1   <link/>
   2     <inertial>
   3        <mass value="100" />
   4        <origin xyz="0 0 0" rpy="0 0 0"/>
   5        <inertia ixx="10"  ixy="0"  ixz="0" iyy="10" iyz="0" izz="10" />
   6     </inertial>
   7     ...Additional Elements: parent, origin, joint, visual, collision...
   8   </link>