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darint916 / ros2-gazebo-drake-sims

Few small Tools meshing all three for controls
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Inertia Tensor needs to be about center of mass #17

Closed BrightKnight02 closed 3 months ago

BrightKnight02 commented 4 months ago

According to this, the inertia tensor for the a link in the sdf needs to be about the center of mass of the link. Since the current tensor is calculated about the wing root, the calculated tensor needs to be manipulated according to the parallel axis theorem.

BrightKnight02 commented 3 months ago

Fixed (probably) with https://github.com/darint916/ros2-gazebo-drake-sims/pull/18

darint916 commented 3 months ago

Inertia not passing newly written inertia, nailing down error by testing all inertia functions. Matching against Solidworks assembly source of truth values. Testing #15

BrightKnight02 commented 3 months ago

Potentially solved with #19

darint916 commented 3 months ago

Requested new changes, follow PR. Performed smoke test on autogenerated values (Failed)

BrightKnight02 commented 3 months ago

When generating the iteration, the SDF file needs to have the location of the wing center of mass