What happen if i set inertia all link equal to zero?

[duygiangtemp]

Please explain for me. What happen if i set inertia all link equal to zero? Will this affect the robot?
EX:

<inertial>
            <origin xyz="0 0 0.1" rpy="0.0 0 0"/>
            <mass value="0.18" />
            <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
        </inertial>

[girishkumar.kannan]

Hi @duygiangtemp ,

That is a good question!

If you set the inertia values to all zeros, then the physics would completely fail in the simulation (for that object / model / entity).
Any small force that you set to the object will make the object “fly-off” into space (assuming you have also set friction values to zeros).

You can try this yourself! Create a box model and set the inertias to all zeros.
You can give that box some value for mass.
Give the box some dimensions in visual and collision tags.
Spawn the block on Gazebo.
Then apply force and torque using the GUI Apply Force/Torque and then give it a small value.
Then see what happens!

Regards,
Girish