The current inertia matrix values don't match the geometry of the robot.
This PR auto-calculates the ixx,iyy,izz values based on the arbitrary mass value of 1.0
The mass is still arbitrary, but now the inertia values should be geometrically consistent.
davetcoleman
commented
8 years ago
The current inertia matrix values don't match the geometry of the robot. This PR auto-calculates the ixx,iyy,izz values based on the arbitrary mass value of 1.0 The mass is still arbitrary, but now the inertia values should be geometrically consistent.
The tutorial will need to be updated; I'll do that after a separate pull request is merged.