No inertial info for each link

NiryoRobotics / niryo_one_ros

Niryo One ROS stack

GNU General Public License v3.0

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No inertial info for each link #63

Closed UK-Roy closed 6 months ago

UK-Roy commented 11 months ago

Hi, I'm Utsha.

I want to use niryo_one robot in gym environment. For that reason I want a proper urdf file consist of collision, visual and inertial information. But the provided urdf file does not contain the inertial information.

How can I get those inertial information for each link? Thanks in advanced

aubino commented 11 months ago

Hi @UK-Roy. Since the description is made by stl and collada files, the resulting urdf files does not require inertia values to work. I suggest you put the stl files into a cad software (solidworks, FreeCAD or even blender) to find inertial values of each element of the design.