Open
Description
Original report (archived issue) by Louise Poubel (Bitbucket: chapulina, GitHub: chapulina).
This inertia matrix doesn't satisfy the triangle inequality.
Trying to load the simple arm with simbody:
gazebo --verbose simple_arm.world -e simbody
Results in this error:
[Err] [SimbodyPhysics.cc:326] EXCEPTION: Simbody build EXCEPTION: SimTK Exception thrown at MassProperties.h:552:
Error detected by Simbody method Inertia::setInertia(xx,yy,zz,xy,xz,yz): Diagonals of an Inertia matrix must satisfy the triangle inequality; got 1.11,100.11,1.01.
(Required condition 'Ixx+Iyy+Slop>=Izz && Ixx+Izz+Slop>=Iyy && Iyy+Izz+Slop>=Ixx' was not met.)