Silvio Traversaro
Silvio Traversaro
For the actual implementation, the computation necessary for compute the center of mass and 3D inertia of basic shapes (at this moment: Sphere, Box, Cylinder) are just the basic formulas...
A preliminary version of what was proposed in this issue was introduced in https://github.com/robotology/idyntree/pull/580 , even at the moment we only support computing the inertial parameters assuming that the geometry...
Related SDFormat issue: https://bitbucket.org/osrf/sdformat/issues/176/allow-a-subset-of-instead-of .
> [Mirtich's algorithm](https://people.eecs.berkeley.edu/~jfc/mirtich/massProps.html) Paper reference: [Brian Mirtich, "Fast and Accurate Computation of Polyhedral Mass Properties," journal of graphics tools, volume 1, number 2, 1996.](http://citeseerx.ist.psu.edu/viewdoc/download?doi=10.1.1.56.127&rep=rep1&type=pdf)
Related Drake issue: https://github.com/RobotLocomotion/drake/issues/13033 .
Related script by @AndrejOrsula: https://github.com/AndrejOrsula/panda_ign/blob/master/scripts/estimate_inertial_properties.py
Realted script: https://github.com/vonunwerth/MeshLabInertiaToURDF/blob/master/main.py .
The available documentation from @francesco-romano is this one: [romano_ik.zip](https://github.com/robotology/idyntree/files/4096427/romano_ik.zip), even if I am not sure if this is the latest version.
Unfortunately `l_sole` is not a link, but rather an additional frame of the link `l_foot`. This happens because during the URDF parsing, the "fake links" of URDF are converted to...