Inertia xacro

Xacro with the inertial matrix for basic shapes as a cylinder, box, and sphere. These xacros adds the <inertial> block of the link.

• Cylinder_intertia parameters: Inertial matrix for cylinder.
  • m [float]: link mass in Kilograms (Kg);
  • r [float]: cylinder radius in meters (m);
  • l [float]: cylinder lenght (height) in meters;
• Box_intertia parameters: Inertial matrix for a box [rectangle].
  • m [float]: link mass in Kg;
  • x [float]: link dimension on the X-axis in m;
  • y [float]: link dimension on the Y-axis in m;
  • z [float]: link dimension on the Z-axis in m;
• Sphere_intertia parameters: Inertia matrix for sphere.
  • m [float]: link mass in Kg;
  • r [float]: sphere radius in m;
• Default_intertial parameters: Simple unity inertial matrix.
  • m [float]: link mass in Kg;