Is there a way from getting the fullinertia from mujoco if I define the inertia in the diaginertia way #2369
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I figured out the reason, it's very easy, my bad. With the right R from quat, and then R * I_diag * R_transpose, you will get what you expect. I got the wrong rotation matrix. |
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Intro
Hi!
I am a graduate student and I use MuJoCo for my research on Robotics.
My setup
I use mujoco.
My question
I have a quick question is about that the model file I used for my research defines the inertia with diaginertia in the model file, and what I want to know is its fullinertia.
I searched the documents and understand that in mujoco, for fullinertia, the compiler computes the eigenvalue decomposition of M and sets the frame orientation and diagonal inertia accordingly. But, what if I hope to get the fullinertia w.r.t the diaginertia, pos, quat.
Then I also tried to use the rotation matrix from the quat and do the transform with R * I_diag * R_transpose, I tried but it seems it doesn't work.
Thanks and wishing you all the best.
Minimal model and/or code that explain my question
If you encountered the issue in a complex model, please simplify it as much as possible (while still reproducing the issue).
Model:
Confirmations
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