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Estimate mass and inertia from mesh, when it is missing in urdf #552

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lewandowskikacper opened this issue Sep 29, 2023 · 0 comments
Open

Estimate mass and inertia from mesh, when it is missing in urdf #552

lewandowskikacper opened this issue Sep 29, 2023 · 0 comments
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feature/robotics This item is related to robotics. kind/enhancement Enhancement to an existing feature. priority/major Major priority. Work that should be handled after all blocking and critical work is done. sig/simulation Categorizes an issue or PR as relevant to SIG Simulation

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@lewandowskikacper
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Currently UrdfFix uses default values of 1kg and identity matrix for mass and inertia.
This could be replaced by estimation from meshes, to provide better behaviour.

from review: #518 (comment)
@lewandowskikacper lewandowskikacper mentioned this issue Sep 29, 2023
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@adamdbrw adamdbrw added kind/enhancement Enhancement to an existing feature. feature/robotics This item is related to robotics. priority/major Major priority. Work that should be handled after all blocking and critical work is done. sig/simulation Categorizes an issue or PR as relevant to SIG Simulation labels Oct 6, 2023
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feature/robotics This item is related to robotics. kind/enhancement Enhancement to an existing feature. priority/major Major priority. Work that should be handled after all blocking and critical work is done. sig/simulation Categorizes an issue or PR as relevant to SIG Simulation
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@adamdbrw @lewandowskikacper