Resolve auto inertia based on input mass (backport #1513) #1527
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Support auto-inertia computation using mass and density. Implemented based on the suggestions in #1482. Inertia is first auto resolved from all collisions as usual. If mass is specified, we normalize the inertia to get unit inertia, then scaling is applied to match the desired mass. --------- Signed-off-by: Steve Peters <scpeters@openrobotics.org> Signed-off-by: Ian Chen <ichen@openrobotics.org> Co-authored-by: Steve Peters <scpeters@openrobotics.org> (cherry picked from commit aaadeea)
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iche033
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Jan 15, 2025
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🎉 New feature
Closes #1482
Summary
Support auto-inertia computation using mass and density. Implemented based on the suggestions in #1482 (comment) and #1482 (comment)
inertia is first auto resolved from all collisions as usual. If mass is specified, we normalize the inertia to get unit inertia, then scaling is applied to match the desired mass.
Marked as draft to get feedback on implementation and correctness of mathChecklist
codecheckpassed (See contributing)Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining
Signed-off-bymessages.This is an automatic backport of pull request #1513 done by [Mergify](https://mergify.com).