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How to get center of gravity coordinates of a robot?

asked 2014-03-28 09:56:54 -0600

Wonyoung gravatar image

updated 2014-03-28 09:57:14 -0600

Can anyone tell me how to get center of gravity coordinates of a robot in gazebo? I'm controlling 10DOF robot and would like to see the CoG trajectory as the robot moves. I found "getcog" in the API, but don't know how to use it. Please share some nice ways to do this. Thank you.

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answered 2014-03-28 14:15:43 -0600

nkoenig gravatar image

There is no convenience function to get the CoG of a whole robot. You'll have to iterate over all the links in the robot, get the CoG, and compute the overall CoG.

Get all links in a model

Get the interial properties of a link

Get the CoG

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Thank you for the answer!

Wonyoung gravatar imageWonyoung ( 2014-03-31 08:16:32 -0600 )edit
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Asked: 2014-03-28 09:56:54 -0600

Seen: 972 times

Last updated: Mar 28 '14