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Fix inertia values to match documentation recommendation - #88
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Sourav0607 wants to merge 1 commit into
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Sourav0607 wants to merge 1 commit into
Sourav0607 wants to merge 1 commit into
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Description
The documentation recommends ixx/iyy/izz=1e-3 as a good default
for mid-sized links but this file uses ixx=1.0 (identity matrix)
which the docs themselves warn against:
"The identity matrix is a particularly bad choice, since it is
often much too high (it corresponds to a box of 0.1m side length
with a mass of 600kg!)"
This fixes all inertia values from 1.0 to 1e-3 to be consistent
with the documentation recommendation.
Related: ros2/lyrical_tutorial_party#3157
Related: ros2/ros2_documentation#6772
Did you use Generative AI?
No