If someone wants to work on a more definitive solution I would be happy to guide him in the development of this feature.

I tried the solution and I'm not sure about the results I've got:

For the YAML that contains:

assignedMasses:
  l_upper_arm : 1.8703
  r_upper_arm : 1.8703

mirroredInertia:
  - mirroredLink: l_upper_arm
    originalLink: r_upper_arm
    simmetryReferenceLink: root_link
    symmetryPlane: xz

Translated with the version from this branch.

I got the following URDF:

  <link name="l_upper_arm">
    <inertial>
      <mass value="1.8703"/>
      <inertia ixx="0.0033015393386908592" ixy="-1.1642719938717833e-05" ixz="0.00024864845503107756" iyy="0.0034295590589069995" iyz="0.00022475902176983257" izz="0.001479994626864221"/>
    </inertial>
  </link>

  <link name="r_upper_arm">
    <inertial>
      <mass value="1.8703"/>
      <inertia ixx="0.0033005254762146084" ixy="-7.856912537486065e-05" ixz="0.0005314736736640653" iyy="0.003275179877659797" iyz="0.00032042055112711576" izz="0.0016353876705876744"/>
    </inertial>
  </link>

I'm not sure why I got these numbers, even if I apply the scaling implemented in the code, for example:

>> newMass = 1.8703

newMass =

    1.8703

>> oldMass = 1.6756

oldMass =

    1.6756

>> inertiaScaling = newMass / oldMass

inertiaScaling =

    1.1162

>> r_ixx = 0.0033005254762146084

r_ixx =

    0.0033

>> l_ixx = r_ixx * inertiaScaling

l_ixx =

   0.003684037239296

ideally we would like for mirroredInertia to get the assignedMass from the link from which we copy the inertia parameters. However, this requires some more code changes that I do not have the time to do now

I could check the code to see how much effort it takes to do it!

I'm not sure why I got these numbers, even if I apply the scaling implemented in the code, for example:

Just to understand, what is the wrong thing in that numbers?

I'm not sure why I got these numbers, even if I apply the scaling implemented in the code, for example:

Just to understand, what is the wrong thing in that numbers?

I expected i_xx of l_upper_arm to be equal to the one in r_upper_arm multiplied by inertiaScaling. As I understood from your implementation in the PR. But I didn't get that result.

Any update on this PR @HosameldinMohamed ? If you do not plan to work on this anymore, I guess we can close this PR.

Any update on this PR @HosameldinMohamed ? If you do not plan to work on this anymore, I guess we can close this PR.

No updates yet @traversaro, I would attempt it in a few days, otherwise I'll close it then.

Ok, no hurry!

Any update on this PR @HosameldinMohamed ? If you do not plan to work on this anymore, I guess we can close this PR.

No updates yet @traversaro, I would attempt it in a few days, otherwise I'll close it then.

In the end, I don't think I'll be working on this PR anymore. So I guess we can close it.

Any update on this PR @HosameldinMohamed ? If you do not plan to work on this anymore, I guess we can close this PR.

No updates yet @traversaro, I would attempt it in a few days, otherwise I'll close it then.

In the end, I don't think I'll be working on this PR anymore. So I guess we can close it.

Ok, thanks!