Visualization was shifted incorrectly when CoG was shifted by plugin in Gazebo

asked 2020-04-24 14:00:07 -0500

updated 2020-04-29 01:36:07 -0500

I put a red object in Gazebo as follows.

image description

And I shifted the position of CoG 0.05m to the y axis by plugin as follows.

physics::LinkPtr link = model->GetLink("link"); physics::InertialPtr inertial = link->GetInertial(); inertial->SetCoG(0, 0.05, 0, 0, 0, 0);

However not only CoG but also the red object were shifted as follows, though the position of contact points described as blue spheres weren't shifted, which means correct.

image description

In my understanding, the position of CoG and contact points were shifted correctly, but the position of the object wasn't shifted correctly.

We can touch the object in the position of blue spheres but cannot touch the object in the position of visualized red one.

Is this a bug of Gazebo plugin?

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