Bad inertia tensor properties, setting inertia to zero for link
Posted: Tue Jul 27, 2021 2:00 pm
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
My questions are:
Thanks!
Code: Select all
loadURDF()
Code: Select all
URDF_USE_INERTIA_FROM_FILE
This is caused by the following lines https://github.com/bulletphysics/bullet ... r.cpp#L460.Bad inertia tensor properties, setting inertia to zero for link
My questions are:
- Why these checks are in place?
- How can I avoid this check, and correctly load the inertia specified in the URDF?
Thanks!