When we are working with evil inertial matrix is very important.
And you have faced a little bit from the last week.
Right.
Now let's dive into the solution for that.
I am going to open up my lab for this and I am going to press file import mesh to import my mesh.
I have saved this location of my package so I don't have to navigate into the folders.
Then Misha's and Basslink.
This is our mesh mesh level.
We are going to extract the properties we can.
We don't need to solve the equations.
We just need the solution to mesh that is going to help us in that going to filters.
And I am going to do a normal curvature, quality measures in computations and then computations.
We are going to perform compute geometric may use this option uses compound compute a set of geometric
mesh point flow bounding boxes and stuff like that.
Let's click it.
And it has calculated already if you see in this small window we can see there are a lot of things.
What interest we have is the inertia matrix.
So from this point.
In this point, I'm going to copy it, which is a small portion, and I'm going to open a new tab and
paste that here, not saving it.
So mesh volume is 0.00624 and initiate insert is very, very, very small values.
Actually, if I implement this equation, they are not going to be solving the problem.
Why?
Because from my experience, we need to have some more defined values.
For that, we need to scale our mesh and again, we compute things for that.
So what I am going to do is go into filters, normal Richard orientation and I'm going to go into transform
scale and normalize.
Here I'm going to say scale my mesh ten times makes each size ten times bigger.
So ten and in y axis, then in the z x is ten uniform scaling and apply.
It has made my mesh so big.
Now if I press filters.
Computations.
And compute geometric measures.
Let's see the inertial metrics.
Now I'm going to copy it again and bring this thing here.
So this is show metrics.
You can see we have now more values, meaning, more explanation.
So this is one time process, but it is a little bit hard.
Let's solve it and then we will enjoy our logo.
So the first step we have to do is to divide our inertia metrics with the volume that has been given.
Okay.
So if we start dividing the values, I'm going to just divide the mean values.
Which are I x, x, I viva.
And I said, okay, let me bring in the calculator.
Okay.
So what we have here.
2.12790 divided by what is the volume?
6.241081.
I'm writing full value.
I'm going to copy it because we will be needing again and again.
So 0.340909.
This is 8xx for a viavi.
We are going to see it is 7.574817 divided by the volume
1.21371.2137.
Again, we are going to do eight for 8.27711 divided by the value.
1.3261.1.326.
I know it is a little bit off from robotics, but you need to do this if you want to keep on working.
That is equal.
Once for a robot I have written this file as well, which I have documented all of this for example.
These are the same values we are currently getting.
We first perform the scaling to x is equal to ten, meaning scaling factor was ten then the division
of this inner shop in matrix.
By the value we obtain this values for all of the geometric values divided by the volume.
Then we need to perform.
Another division, which is scale value squared.
So these were the values and they were divided by 100, Y 100 because scaling factor was ten.
So everything was divided by 110 squared is equal to 200.
So the inertia matrix became this thing and this is our inertia metric for our robot, but.
The volume, the mass value is going to be deciding what inertial metrics is going to be.
Because if we said one kilogram of mass for the beast, this is going to be the inertia metric.
But if we say to kilograms of mass for the inertia metrics.
Two.
Two kg for the base link.
Then we need to multiply all of these values.
We do.
So this is the basic workflow for calculating the inertial metrics.
I know it is a little bit hard, but we have to do it when we are designing our custom robots for physical
simulation.
Now, I have done that for you.
All of the values of inertial metrics are selected according to the mass value that I have given.
Everything is selected accordingly, and mass value is specifically taken into consideration after multiplying
the computed inertial metrics.
Now I think it's time to run my sport.
So let's first of all can relate because we have made a lot of changes and run the MI sport.
Let's see what happens.
I'm curious, by the way, like not.
So this time Robert is not flying in the air and it is standing right at the.
Point of origin.
If I view the inertia this time, it is only encapsulating the bodies that are.
Containing that inertial metrics, for example, wheels.
Inertial metrics is just the small box in which the body of the wheel is encapsulated.
The box for the base is not that correct, but still it is reasonable and our robot is not excluding.
Coming to the point of I caster, there is some sort of problem with that, but I think it is working
fine and it might not cause any problem.
The point here is a robot is moving and it should not move.
It is moving for only one reason and that reason is no controllers are currently installed.
Talking about the controllers in the next video, we are going to install the controllers, take a look
how they work and how our robot is going to be taking actions in this simulation.