Get Payload Inertia
SUMMARY
Get Payload Inertia returns the payload inertia tensor that is currently configured on the robot controller. The result is the 6-element symmetric inertia tensor [Ixx, Iyy, Izz, Ixy, Ixz, Iyz] in kg·m².
Use this skill to verify that the inertia values set by Set Target Payload have been applied correctly.
SUPPORTED ROBOTS
This skill is currently supported on Universal Robots only. Calling this method on other robot brands will raise a NotImplementedError.
The Skill
inertia = robot.get_payload_inertia()The Code
Example: Read the Configured Payload Inertia
Connect to the robot, read the payload inertia, and log it.
from loguru import logger
from telekinesis.synapse.robots.manipulators import universal_robots
robot_ip = "192.168.1.2" # replace with your robot's IP
robot = universal_robots.UniversalRobotsUR10E()
# Connect
robot.connect(ip=robot_ip)
inertia = robot.get_payload_inertia()
logger.info(f"Payload inertia [Ixx, Iyy, Izz, Ixy, Ixz, Iyz] (kg·m²): {inertia}")
# Disconnect
robot.disconnect()The Explanation of the Code
get_payload_inertia queries the RTDE receive interface for the payload inertia tensor currently in use by the controller's dynamics model. The result is a 6-element list representing the upper triangle of the symmetric 3×3 inertia matrix: [Ixx, Iyy, Izz, Ixy, Ixz, Iyz] in kg·m².
How to Tune the Parameters
This skill takes no parameters.
Return Value
| Type | Description |
|---|---|
list[float] | 6-element symmetric inertia tensor [Ixx, Iyy, Izz, Ixy, Ixz, Iyz] [kg·m²]. |
Where to Use the Skill
- Payload verification — Confirm that the inertia tensor set by Set Target Payload is active
- Tool database validation — Check the controller's inertia values match the registered tool properties
When Not to Use the Skill
Do not use Get Payload Inertia when:
- You want to set the payload inertia — use Set Target Payload instead
- You need the payload mass — use Get Payload instead