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by tewbank
Wed Jan 27, 2021 4:12 pm
Forum: PyBullet Support and Feedback
Topic: Intertial frame rotation in urdf
Replies: 0
Views: 2721

Intertial frame rotation in urdf

Hi, I was wondering how I should specify the inertial tags in my urdfs. According to some sources, I should specify the inertia tensor along the principal axes, but the inertial reference frame would not need to be aligned with these axes. So I just wanted to make sure that it is indeed the case, an...