I am having issues following the [tutorial](http://gazebosim.org/tutorials?tut=inertia&cat=build_robot) to calculate the inertial matrix for my [gripper](http://imgur.com/TqhzRGy). [This](https://youtu.be/ptbETRjvyqc) is the behaviour I see. I am able to successfully create a config package with PR2 gripper, so I am pretty sure it is because of the inertial matrix.
In Meshlab, following are the values I get at no-scale:
Mesh Bounding Box Size 0.164416 0.063248 0.077500
Mesh Bounding Box Diag 0.192456
Mesh Volume is 0.000214
Mesh Surface is 0.089074
Thin shell barycenter -0.040913 -0.000254 0.039031
Center of Mass is -0.041006 -0.000043 0.037458
Inertia Tensor is :
| 0.000000 -0.000000 0.000000 |
| -0.000000 0.000001 0.000000 |
| 0.000000 0.000000 0.000000 |
Principal axes are :
| 0.938629 0.011849 0.344725 |
| 0.004914 0.998849 -0.047710 |
| -0.344893 0.046476 0.937491 |
axis momenta are :
| 0.000000 0.000001 0.000001 |
For a scale of 100, following are the values I get :
Mesh Bounding Box Size 16.441637 6.324847 7.750000
Mesh Bounding Box Diag 19.245613
Mesh Volume is 214.333633
Mesh Surface is 890.744385
Thin shell barycenter -4.091284 -0.025389 3.903062
Center of Mass is -4.100575 -0.004325 3.745764
Inertia Tensor is :
| 1597.194946 -17.950985 1307.758423 |
| -17.950985 5213.373047 9.511752 |
| 1307.758423 9.511752 4675.780273 |
Principal axes are :
| 0.938629 0.011848 0.344725 |
| 0.004914 0.998849 -0.047710 |
| -0.344893 0.046475 0.937491 |
axis momenta are :
| 1116.573364 5213.602539 5156.172363 |
How do I use these values? I didn't quite understand the scaling part of the tutorial.
Also, ideally, shouldn't the simulation work when I consider the gripper to be almost weightless?
↧