How can I use the drone’s moment of inertia?

[LvXinyu2003]

I don’t seem to find an explicit definition.I only found the definition of inertia in the URDF file.

[JacopoPan]

It is loaded from the URDF in variable self.J

gym-pybullet-drones/gym_pybullet_drones/envs/BaseAviary.py

Lines 982 to 996 in 3d7b12e

	def _parseURDFParameters(self):
	"""Loads parameters from an URDF file.
	This method is nothing more than a custom XML parser for the .urdf
	files in folder `assets/`.
	"""
	URDF_TREE = etxml.parse(pkg_resources.resource_filename('gym_pybullet_drones', 'assets/'+self.URDF)).getroot()
	M = float(URDF_TREE[1][0][1].attrib['value'])
	L = float(URDF_TREE[0].attrib['arm'])
	THRUST2WEIGHT_RATIO = float(URDF_TREE[0].attrib['thrust2weight'])
	IXX = float(URDF_TREE[1][0][2].attrib['ixx'])
	IYY = float(URDF_TREE[1][0][2].attrib['iyy'])
	IZZ = float(URDF_TREE[1][0][2].attrib['izz'])
	J = np.diag([IXX, IYY, IZZ])