Open triccyx opened 6 years ago
Also if the CM of .urdf file is the same as the one in .mo file, inertia martix should be the same in both case
@triccyx Can you check with the example provided in the readme: https://github.com/robotology-playground/sdf-modelica#example-usage ? In that case, the inertia values of 0.01
seem to be correctly converted from urdf to Modelica.
URDF <inertia ixx="5.1392929e-06" ixy="4.4959551e-07" ixz="-2.2106268e-06" iyy="1.0381641e-05" iyz="3.5075043e-07" izz="9.5451504e-06"/>
MODELICA TRANSLATED I_11 = 0.000005, I_22 = 0.000010, I_33 = 0.000010, I_21 = 0.000000, I_32 = 0.000000, I_31 = -0.000002)
It is for sure a precision issue look at ixy and I_21
But I don't know if this is relevant to my problems
On Fri, 8 Jun 2018 at 18:06, Silvio Traversaro notifications@github.com wrote:
@triccyx https://github.com/triccyx Can you check with the example provided in the readme: https://github.com/robotology-playground/sdf-modelica#example-usage ? In that case, the inertia values of 0.01 seem to be correctly converted from urdf to Modelica.
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Good catch. I think the problem is in numbers expressed with the scientific notation, however the error is minimal, so if you had strange results I do not think this is the problem. I will be working on it.
Same problem in CM vector position from frame_a in Modelica.Mechanics.MultiBody.Parts.Body
Removing my assignment, if anyone wants to work feel free to do so.
Not easy to understand but at least it seems to have too much null cells. Is it a precision problem?