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How can I visualize the coordinate system of my model? [closed]

asked 2017-06-15 08:18:39 -0500

NRottmann gravatar image

I want to visualize my body fixed coordinate system. How can I do this or what do I need to add into my .sdf file to visualize such a coordinate system?

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Closed for the following reason the question is answered, right answer was accepted by NRottmann
close date 2018-10-22 09:51:34.045777

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answered 2017-06-15 09:31:56 -0500

sloretz gravatar image

In the gazebo client on the top menu click "View -> Link Frames". Since link frames may be inside geometry, it helps to do "View -> Transparent" as well. The link frames show as 3 perpendicular axes: blue is +Z, red is +X, yellow is +Y.

Here's a PR2 with transparency and link frames.

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Is there a possibility to include this already in the model.sdf file. For the transparency I could just add <transparency>1</transparency>

NRottmann gravatar imageNRottmann ( 2017-06-16 01:29:08 -0500 )edit

Never done it myself, but I think you could set the alpha term of `<ambient>` to 0.25 http://sdformat.org/spec?ver=1.6&elem=material#material_ambient I believe the order is red, green, blue, alpha, so `<ambient>1.0 1.0 1.0 0.25</ambient>" would be a translucent white.

sloretz gravatar imagesloretz ( 2017-06-16 09:05:39 -0500 )edit
chapulina gravatar imagechapulina ( 2017-06-16 12:03:52 -0500 )edit

Thanks a lot. It works for me!

NRottmann gravatar imageNRottmann ( 2017-06-20 01:43:58 -0500 )edit

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Asked: 2017-06-15 08:18:39 -0500

Seen: 2,008 times

Last updated: Jun 15 '17