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After changing a links Inertial values dynamically, its behavior does not change.

asked 2013-05-15 06:23:07 -0600

AndreiHaidu

2108 ●48 ●60 ●80 http://haidu.eu/

Hi,

I am using Gazebo 1.8.0. In a plugin I am changing the Inertial values of some links, even though the values change, their behavior stays the same in the simulation.
Do I have to re-load them somehow?

Here is the code snippet how I set the values:

this->link->GetInertial()->SetInertiaMatrix(new_inertia, new_inertia, new_inertia, 0, 0, 0);

Thanks, Andrei

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answered 2013-05-16 01:11:12 -0600

scpeters
2861 ●4 ●21 ●33

After calling Link::SetInertiaMatrix, you'll need to call Link::UpdateMass. This is implemented for ODE, but not yet for bullet.

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Asked: 2013-05-15 06:23:07 -0600

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Last updated: May 16 '13

After changing a links Inertial values dynamically, its behavior does not change. edit

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After changing a links Inertial values dynamically, its behavior does not change.