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How to view full model's center of mass?

asked 2020-03-12 14:56:06 -0600

Victoria Bentell gravatar image

I know that you can view the center of mass for each link, but how can I graphically see the center of mass for the full model? If no tool for this is available, how should I approach creating my own? (I'm guessing that this is what a plugin would be for, right?)

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answered 2020-03-12 15:21:36 -0600

chapulina gravatar image

Gazebo doesn't provide this functionality out of the box. You could create a model plugin which calculates the CoM and publishes a marker at that position.

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Asked: 2020-03-12 14:56:06 -0600

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Last updated: Mar 12 '20