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Query the dimensions of a model

asked 2023-05-30 13:34:46 -0600

azazdeaz gravatar image

updated 2023-06-01 07:37:13 -0600

Is there a way to get the dimensions of an object in (Ignition) Gazebo? I guess it's solvable by implementing a custom plugin, but are there any simpler ways? Maybe a service i'm missing?

Update: To clarify, i want to know is the width/height/depth of a model's bounding box downloaded from fuel. I think this is what the ModelPhotoShoot plugin does internally:

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Can you explain a little more what you want? An "object" is too vague because it's not clear if you want the dimension of the whole model, just a link, or a single visual/collision in the link.

azeey gravatar imageazeey ( 2023-05-30 13:59:53 -0600 )edit

Thanks! I updated the question. I was thinking the size of a model, but if there is a solution for querying the bounding box of a link, or a part of a link, i'm also very interested.

azazdeaz gravatar imageazazdeaz ( 2023-05-31 06:14:00 -0600 )edit

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answered 2023-06-01 11:10:29 -0600

azeey gravatar image

Gazebo has a bounding box camera sensor. I can't find a tutorial that covers how to use it, but there's an example in gz-sim that you can look at. The camera publishes a vector of AnnotatedOriented[2,3]DBox types, which you can learn about here

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Asked: 2023-05-30 13:34:46 -0600

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Last updated: Jun 01