Search found 2 matches

by kayke
Mon Aug 24, 2020 2:59 pm
Forum: General
Topic: Estimating the inertia matrix for the bracket
Replies: 3
Views: 1367

Re: Estimating the inertia matrix for the bracket

I am inspecting the URDF generated by hebi_description repo (https://github.com/personalrobotics/hebi_description) and found that there are rough estimations for inertia and CoM there. For example, the URDF contains some inertia for the X5 Bracket Light that connects two X5 joints: <inertial> <origi...
by kayke
Mon Aug 24, 2020 2:35 pm
Forum: General
Topic: Estimating the inertia matrix for the bracket
Replies: 3
Views: 1367

Estimating the inertia matrix for the bracket

Hi all! I am updating the HRDF for my hebi arm kit. The arm adds one more joint to the standard 6-DOF kit. Because our application requires high-accuracy modeling, I replaced the brackets and links in the hrdf file with custom rigid body whose transformation parameters represent more accurately our ...