URDF code for spherical shell:
|
<robot name="spherical_shell">
<link name="link1"> <visual> <geometry> <sphere radius="0.5" /> </geometry> </visual> <inertial> <mass value="10"/> <inertia ixx="1.67" ixy="0" ixz="0" iyy="1.67" iyz="0" izz="1.67" /> </inertial> <collision> <geometry> <sphere radius="0.5" /> </geometry> </collision> </link>
<gazebo reference="link1"> <material>Gazebo/Red</material> </gazebo>
</robot> |
慣性張量計算公式如下，取自《Wikipedia: List of 3D inertia tensors》：
參考資料
- Wikipedia: List of 3D inertia tensors
https://en.wikipedia.org/wiki/List_of_moments_of_inertia#List_of_3D_inertia_tensors
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