When trying load an URDF via
with flag
I have noticed that pybullet will set the inertia to zero if the sum of the inertia on two principal components of the inertia tensor is smaller than the third remaining (for example if i_xx + i_yy < i_zz), throwing the error message
Bad inertia tensor properties, setting inertia to zero for link
This is caused by the following lines
https://github.com/bulletphysics/bullet ... r.cpp#L460.
My questions are:
- Why these checks are in place?
- How can I avoid this check, and correctly load the inertia specified in the URDF?
I have also noticed that if we let pybullet compute the inertia from the geometric properties speified in an URDF (by not setting the URDF_USE_INERTIA_FROM_FILE flag), the obtained inertia may not respect the property that is being enforced by loadURDF()
Thanks!