inertia-calculation
CommunityCompute URDF inertial properties for robot links.
Authorwimblerobotics
Version1.0.0
Installs0
System Documentation
What problem does it solve?
Gazebo's physics engine requires valid inertial parameters for every link in the simulation. Incorrect inertias cause instability and unrealistic dynamics.
Core Features & Use Cases
- Standard formulas for box, cylinder, and sphere inertias: ixx, iyy, izz, and off-diagonal terms.
- Xacro macros for quick inertia definitions and parallel-axis adjustments.
- Guidance on CAD export, validation checks, and safe mass distribution for ROS 2 models.
Quick Start
Process your URDF model to compute masses, centers of mass, and inertia tensors for box, cylinder, or sphere links.
Dependency Matrix
Required Modules
None requiredComponents
Standard package💻 Claude Code Installation
Recommended: Let Claude install automatically. Simply copy and paste the text below to Claude Code.
Please help me install this Skill: Name: inertia-calculation Download link: https://github.com/wimblerobotics/ros2-copilot-skills/archive/main.zip#inertia-calculation Please download this .zip file, extract it, and install it in the .claude/skills/ directory.
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