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

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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>

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.

For adding the frames to SDF, you could copy the X, Y and Z visuals here to each link in your robot: https://bitbucket.org/osrf/gazebo/src/42215f2019f5ae64fc8a0610ef804a0fc53b0740/worlds/lookat_demo.world?fileviewer=file-view-default#lookat_demo.world-22

Thanks a lot. It works for me!