Dynamic Information
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Body (Base Link)
Inertial Tensor
Note See the link inertial tensor convention below.
mass 9.251 kg
X Y Z -1.812e-03 9.291e-03 5.294e-03 m
kg*m2
Ixx Ixy Ixz 2.654e-01 2.029e-04 9.871e-05 Iyx Iyy Iyz 2.029e-04 6.379e-02 3.037e-03 Izx Izy Izz 9.871e-05 3.037e-03 3.093e-01
Title | ||
style="text-align: left; color: green; width: 100px;"|ix | Pie | 500.00 |
Butter | Ice cream | 1.00 |
Link Inertial Tensor Convention
The components of tensors of degree two can be assembled into a matrix. For the inertia tensor this matrix is given by,
It is common in rigid body mechanics to use notation that explicitly identifies the x, y, and z axes, such as Ixx and Ixy, for the components of the inertia tensor.
(courtesy of Wikipedia)