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Visualize inertia

asked 2014-09-12 03:10:15 -0600

arennuit gravatar image

Hi all,

Do you know if there is a way to visualize the inertia of the different links of a urdf? Something like RViz or gazebo displaying the inertia ellipsoid centered on the center of mass...

I could not find anything relevant. Any idea?



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answered 2014-09-17 08:23:53 -0600

arennuit gravatar image

You can actually visualize the inertia under the shape of a box (rather than an ellipsoid - but really who cares) starting from ROS-Indigo / Gazebo 2.2 (you may actually visualize it with an earlier version of Gazebo but there is no ROS version associated).

ROS-Hydro / Gazebo 1.9 does not allow to visualize inertia...


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Asked: 2014-09-12 03:10:15 -0600

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Last updated: Sep 17 '14