Proposal for Automatic Calculation of Moments of Inertia for SDFormat Links #92
Conversation
Signed-off-by: Jasmeet Singh <jasmeet0915@gmail.com>
Signed-off-by: Jasmeet Singh <jasmeet0915@gmail.com>
Signed-off-by: Jasmeet Singh <jasmeet0915@gmail.com>
Signed-off-by: Jasmeet Singh <jasmeet0915@gmail.com>
Signed-off-by: Jasmeet Singh <jasmeet0915@gmail.com>
Signed-off-by: Jasmeet Singh <jasmeet0915@gmail.com>
Signed-off-by: Jasmeet Singh <jasmeet0915@gmail.com>
auto_inertial_params/proposal.md
Outdated
|
|
||
| 1. An `auto` parameter for the `<inertia>` tag that would tell `libsdformat` to calculate Inertia matrix values automatically for the respective link. | ||
|
|
||
| 2. A `//link/collision/material_density` tag for specifying the density of the collision geometry. This density value would be used to calculate the inertial parameters of the respective collision geometry. Adding this as part of the `<collision>` tag would allow a user to simulate links with different material types for different collisions. By default, the value of density would be set equal to that of water which is 1000 kg/m^3. |
There was a problem hiding this comment.
A link may contain 0 or multiple collision tags. The proposal should specify how inertial properties are computed in cases when there is not exactly 1 collision. If there are no collisions and the auto attribute is set to true, we could return an error. If there are multiple collisions, we could aggregate them using the gz::math::Inertial class and its + operator (see examples from its unit test)
There was a problem hiding this comment.
There was a problem hiding this comment.
Updated the section to include more information about different scenarios (multiple or no collisions) in 8b902d8
Signed-off-by: Jasmeet Singh <jasmeet0915@gmail.com>
…f <inertia> element Signed-off-by: Jasmeet Singh <jasmeet0915@gmail.com>
Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com> Co-authored-by: Steve Peters <computersthatmove@gmail.com> Signed-off-by: Dharini Dutia <dharinidutia@gmail.com>
Signed-off-by: Jasmeet Singh <jasmeet0915@gmail.com>
Signed-off-by: Jasmeet Singh <jasmeet0915@gmail.com>
…Inertial() section Signed-off-by: Jasmeet Singh <jasmeet0915@gmail.com>
jasmeet0915
force-pushed
the
jasmeet/auto_inertial_params
branch
from
b68406b
to
8f93afb
Compare
Signed-off-by: Jasmeet Singh <jasmeet0915@gmail.com>
Signed-off-by: Jasmeet Singh <jasmeet0915@gmail.com>
Signed-off-by: Jasmeet Singh <jasmeet0915@gmail.com>
Signed-off-by: Jasmeet Singh <jasmeet0915@gmail.com>
Signed-off-by: Jasmeet Singh <jasmeet0915@gmail.com>
auto_inertial_params/proposal.md
Outdated
| Since this method uses the vertex data for calculations, a high vertex count would be | ||
| required for near-ideal values. For eg, in case of a cylinder, it was observed that with |
There was a problem hiding this comment.
This is important for usage right? Should this be documented some place else as well? Probably a Limitations or Considerations sub-section in implementation?
There was a problem hiding this comment.
The Proposed Implementation section of the proposal focuses more on the implementation from libsdformat's side. Therefore, instead of adding it there, I created a sub-section in the Integration-based Numerical Method and added this point. I have added some other points as well that explain this method's limitations and suitable use cases. The changes can be found in fca06ae
…ion method Signed-off-by: Jasmeet Singh <jasmeet0915@gmail.com>
jasmeet0915
force-pushed
the
jasmeet/auto_inertial_params
branch
from
d104e1d
to
fca06ae
Compare
Signed-off-by: Jasmeet Singh <jasmeet0915@gmail.com>
Signed-off-by: Jasmeet Singh <jasmeet0915@gmail.com>
…tion, updated configuration docs Signed-off-by: Jasmeet Singh <jasmeet0915@gmail.com>
Replaced all SDF with SDFormat in 52b582e |
This proposal is in regard to GSoC'23 Project titled: "Automatically Computing Moments of Inerial for SDFormat Links"
Summary
The proposal suggests adding new attributes and elements to support the automatic calculation of Moments of Inertia and Products of Inertia for a link in SDFormat. The proposal targets SDFormat 1.11 and
libsdformat14.Preview
http://sdformat.org/tutorials?tut=auto_inertial_params_proposal&cat=pose_semantics_docs&branch=jasmeet%2Fauto_inertial_params&repo=https%3A%2F%2Fgithub.com%2Fjasmeet0915%2Fsdf_tutorials