Update Inertia.msg documentation to clarify inertia reference frame #313
Conversation
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
asymingt
changed the title
…the center of mass Signed-off-by: Andrew Symington <simmers@intrinsic.ai>
asymingt
force-pushed
the
asymingt/update-inertia-msg-inline-comments
branch
from
0718610 to
c3e86b9
Compare
fujitatomoya
approved these changes
Jan 26, 2026
Collaborator
fujitatomoya
left a comment
fujitatomoya
left a comment
There was a problem hiding this comment.
this should clarify and avoid incorrect dynamics calculations in simulations or controllers.
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
2 participants
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Fixes #306 by updating
Inertia.msgto explicitly state that the inertia tensor is expressed about the center of mass.